diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082723_323728/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082723_323728/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b76c84373387f492c73fdce7033a9d71c5648eac --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082723_323728/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_082723_323728)\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_28_bar__plus_01_dot_14_bar__plus_01_dot_40 - object\n AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 - object\n BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object\n BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object\n Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object\n Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 - object\n Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object\n Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object\n CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64 - object\n CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 - object\n CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81 - object\n CellPhone_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_01_dot_26 - object\n CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23 - object\n CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81 - object\n Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object\n CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81 - object\n CreditCard_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_01_dot_09 - object\n CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_56 - object\n DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object\n KeyChain_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 - object\n KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69 - object\n KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 - object\n Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_99 - object\n Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 - object\n LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object\n LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object\n Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object\n Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 - object\n Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 - object\n Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84 - object\n Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67 - object\n Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66 - object\n Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 - object\n Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62 - object\n Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44 - object\n Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__plus_00_dot_11 - object\n Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object\n Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object\n Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object\n Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle\n Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle\n GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle\n LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle\n loc_bar_2_bar_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_1_bar_6_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_1_bar__minus_1_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location\n loc_bar_2_bar_6_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar_6_bar_0_bar_30 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType)\n (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType)\n (objectType AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 AlarmClockType)\n (objectType Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 MugType)\n (objectType Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 PenType)\n (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 LaptopType)\n (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 BookType)\n (objectType Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66 PencilType)\n (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType)\n (objectType Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44 PillowType)\n (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType)\n (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType)\n (objectType CreditCard_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_01_dot_09 CreditCardType)\n (objectType CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23 CellPhoneType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType)\n (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType)\n (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType)\n (objectType CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_56 CreditCardType)\n (objectType CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64 CDType)\n (objectType KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69 KeyChainType)\n (objectType Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 MugType)\n (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType)\n (objectType Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84 PencilType)\n (objectType AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 AlarmClockType)\n (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType)\n (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType)\n (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType)\n (objectType Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 WindowType)\n (objectType CellPhone_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_01_dot_26 CellPhoneType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType)\n (objectType CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81 CellPhoneType)\n (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType)\n (objectType CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81 CDType)\n (objectType KeyChain_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 KeyChainType)\n (objectType KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 KeyChainType)\n (objectType CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81 CreditCardType)\n (objectType Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_99 LaptopType)\n (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType)\n (objectType CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 CDType)\n (objectType Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__plus_00_dot_11 PillowType)\n (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62 PenType)\n (objectType Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67 PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\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 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 DeskType PenType)\n (canContain DeskType BookType)\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 AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\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 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 (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 GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (pickupable AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40)\n (pickupable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (pickupable Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07)\n (pickupable Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34)\n (pickupable Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81)\n (pickupable Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66)\n (pickupable Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44)\n (pickupable CreditCard_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_01_dot_09)\n (pickupable CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23)\n (pickupable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (pickupable BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68)\n (pickupable CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_56)\n (pickupable CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64)\n (pickupable KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69)\n (pickupable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90)\n (pickupable Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44)\n (pickupable Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84)\n (pickupable AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96)\n (pickupable BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65)\n (pickupable CellPhone_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_01_dot_26)\n (pickupable CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81)\n (pickupable CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81)\n (pickupable KeyChain_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25)\n (pickupable KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64)\n (pickupable CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81)\n (pickupable Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_99)\n (pickupable CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07)\n (pickupable Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__plus_00_dot_11)\n (pickupable Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62)\n (pickupable Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67)\n (isReceptacleObject Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (isReceptacleObject Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (isReceptacleObject Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90)\n (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74)\n (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n \n (atLocation agent1 loc_bar_1_bar_3_bar_1_bar_30)\n \n (cleanable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (cleanable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (cleanable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90)\n \n (heatable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (heatable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90)\n (coolable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66)\n (coolable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89)\n (coolable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90)\n \n \n (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67)\n \n \n \n \n (inReceptacle CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74)\n (inReceptacle KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (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)\n (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)\n (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)\n (inReceptacle Mug_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)\n (inReceptacle CD_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)\n (inReceptacle KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63)\n (inReceptacle CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n (inReceptacle Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n (inReceptacle CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74)\n (inReceptacle Laptop_bar__plus_00_dot_83_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)\n (inReceptacle Pillow_bar__plus_00_dot_83_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)\n (inReceptacle CellPhone_bar__plus_00_dot_83_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)\n (inReceptacle Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Mug_bar__plus_00_dot_26_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)\n (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)\n (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)\n (inReceptacle Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72)\n (inReceptacle CreditCard_bar__plus_01_dot_34_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)\n (inReceptacle AlarmClock_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)\n (inReceptacle KeyChain_bar__plus_01_dot_31_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)\n (inReceptacle CreditCard_bar__plus_01_dot_37_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)\n (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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_00_dot_96 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_01_dot_09 loc_bar_2_bar_6_bar_1_bar_30)\n (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)\n (objectAtLocation CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_56 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67 loc_bar_0_bar_5_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_01_dot_26 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81 loc_bar_1_bar_6_bar_1_bar_45)\n (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)\n (objectAtLocation Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81 loc_bar_0_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation KeyChain_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 loc_bar_2_bar_6_bar_1_bar_30)\n (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)\n (objectAtLocation Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__plus_00_dot_11 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (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)\n (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)\n (objectAtLocation Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\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 shelf 1", "take alarmclock 1 from shelf 1", "go to dresser 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-305/trial_T20190908_082723_323728/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082723_323728/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..866ad6576beed51b336138f87e26765f25b2cd74 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082723_323728/initial_state.pddl @@ -0,0 +1,575 @@ + +(define (problem plan_trial_T20190908_082723_323728) +(: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_40 - 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_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 - object + Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64 - object + CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81 - object + CellPhone_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_01_dot_26 - object + CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23 - object + CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81 - object + Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object + CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81 - object + CreditCard_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_01_dot_09 - object + CreditCard_bar__plus_01_dot_37_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__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 - object + KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69 - object + KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 - object + Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_99 - 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_26_bar__plus_00_dot_69_bar__minus_01_dot_66 - object + Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 - object + Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84 - object + Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67 - object + Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66 - object + Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62 - object + Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44 - object + Pillow_bar__plus_00_dot_83_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_1_bar_3_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 AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 AlarmClockType) + (objectType Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 MugType) + (objectType Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 PenType) + (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 Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66 PencilType) + (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType) + (objectType Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44 PillowType) + (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 CreditCard_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_01_dot_09 CreditCardType) + (objectType CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23 CellPhoneType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType) + (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType) + (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 CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_56 CreditCardType) + (objectType CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64 CDType) + (objectType KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69 KeyChainType) + (objectType Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 MugType) + (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType) + (objectType Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84 PencilType) + (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 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 CellPhone_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_01_dot_26 CellPhoneType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType) + (objectType CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81 CellPhoneType) + (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType) + (objectType CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81 CDType) + (objectType KeyChain_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 KeyChainType) + (objectType KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 KeyChainType) + (objectType CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81 CreditCardType) + (objectType Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_99 LaptopType) + (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType) + (objectType CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 CDType) + (objectType Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__plus_00_dot_11 PillowType) + (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62 PenType) + (objectType Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67 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 CDType) + (canContain GarbageCanType PencilType) + (pickupable AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (pickupable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66) + (pickupable Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07) + (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 Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66) + (pickupable Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44) + (pickupable CreditCard_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_01_dot_09) + (pickupable CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23) + (pickupable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (pickupable BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68) + (pickupable CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_56) + (pickupable CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64) + (pickupable KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69) + (pickupable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (pickupable Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (pickupable Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84) + (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 CellPhone_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_01_dot_26) + (pickupable CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81) + (pickupable CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81) + (pickupable KeyChain_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25) + (pickupable KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64) + (pickupable CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81) + (pickupable Laptop_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_99) + (pickupable CD_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07) + (pickupable Pillow_bar__plus_00_dot_83_bar__plus_00_dot_85_bar__plus_00_dot_11) + (pickupable Pen_bar__minus_00_dot_21_bar__plus_00_dot_70_bar__minus_01_dot_62) + (pickupable Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67) + (isReceptacleObject Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66) + (isReceptacleObject Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (isReceptacleObject Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (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_1_bar_3_bar_1_bar_30) + + (cleanable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66) + (cleanable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (cleanable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + + (heatable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66) + (heatable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (coolable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66) + (coolable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (coolable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + + + (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67) + + + + + (inReceptacle CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74) + (inReceptacle KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle CD_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_64 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 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) + (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 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 Mug_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 CD_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 KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63) + (inReceptacle CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74) + (inReceptacle Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74) + (inReceptacle CellPhone_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_81 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74) + (inReceptacle Laptop_bar__plus_00_dot_83_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_00_dot_83_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 CellPhone_bar__plus_00_dot_83_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 Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Mug_bar__plus_00_dot_26_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 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 Pencil_bar__plus_00_dot_02_bar__plus_00_dot_70_bar__minus_01_dot_84 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle CreditCard_bar__plus_01_dot_34_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_40 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle KeyChain_bar__plus_01_dot_31_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_56 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) + + + (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_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_81 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_44 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_35_bar__plus_00_dot_39_bar__minus_01_dot_66 loc_bar_0_bar__minus_5_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_6_bar_1_bar_30) + (objectAtLocation KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_01_dot_09 loc_bar_2_bar_6_bar_1_bar_30) + (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 CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_09_bar__plus_00_dot_39_bar__minus_01_dot_69 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_56 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_01_dot_67 loc_bar_0_bar_5_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_01_dot_26 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CD_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 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_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 loc_bar_2_bar_5_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_14_bar__plus_00_dot_56_bar__plus_01_dot_81 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_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_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_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_21_bar__plus_00_dot_08_bar__plus_01_dot_81 loc_bar_0_bar_5_bar_1_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__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation AlarmClock_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 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(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-305/trial_T20190908_082723_323728/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082723_323728/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..7556c6cac612b0cd7f4dc6bfa31c9ae9970c4fb3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082723_323728/traj_data.json @@ -0,0 +1,2372 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 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"position": { + "x": 1.34199989, + "y": 1.13117754, + "z": 0.960999966 + }, + "rotation": { + "x": 0.000373435, + "y": 270.000183, + "z": 3.82761164e-06 + } + }, + { + "objectName": "Pencil_a35ce977", + "position": { + "x": -0.35292387, + "y": 0.391632438, + "z": -1.66384864 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_1574a200", + "position": { + "x": 0.704930544, + "y": 0.8492504, + "z": -0.4405536 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_15fd1764", + "position": { + "x": 1.17351043, + "y": 0.315636575, + "z": 1.80860865 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_93147e8a", + "position": { + "x": 1.35601091, + "y": 0.7346528, + "z": 1.066412 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_fa34f539", + "position": { + "x": 0.255929768, + "y": 0.6882, + "z": -1.6609292 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3072470198, + "scene_num": 305 + }, + "task_id": "trial_T20190908_082723_323728", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2RQMEPIHW5BOS_36ZN444YTUPTE4N9QOMLGID5SMEIOF", + "high_descs": [ + "Turn left and walk to the desk.", + "Pick up the clock on the right.", + "Turn around, walk to the wall, turn left, and walk to the lamp.", + "Turn on the lamp." + ], + "task_desc": "Examine a clock under the lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36A780ODXBDEH_37KGEN7NJ6H3GQMEIJPKEFJ7O4SPP0", + "high_descs": [ + "Turn left and go to the desk to the right of the bed.", + "Pick up the clock to the right of the other clock.", + "Turn right and head to the nightstand underneath the window.", + "Turn on the lamp on the nightstand." + ], + "task_desc": "Turn on the lamp on the nightstand while holding a clock.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2Q3FS9G8ITCN7_3S3AMIZX3XWBX4AK85CJUL3BB2BDCX", + "high_descs": [ + "Move to the left so that you are in the center of the desk.", + "Pick up the clock from the top shelf of the desk on the right hand side.", + "Turn around to the right and walk to the bedside table.", + "Turn on the lamp that is on the bedside table." + ], + "task_desc": "Turn on a lamp while holding a clock.", + "votes": [ + 1, + 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-305/trial_T20190908_082736_108723/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082736_108723/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d8cec1acbe189ce4a4d08ffb10607259b6563829 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082736_108723/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_082736_108723)\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_22_bar__plus_00_dot_73_bar__plus_01_dot_07 - object\n AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_40 - object\n AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 - object\n BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object\n BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object\n Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object\n Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 - object\n Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object\n Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object\n CD_bar__plus_01_dot_06_bar__plus_00_dot_08_bar__plus_01_dot_88 - object\n CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 - object\n CellPhone_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_93 - object\n Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object\n CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_07 - object\n DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object\n KeyChain_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_60 - object\n Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 - object\n LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object\n LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object\n Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object\n Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 - object\n Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 - object\n Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 - object\n Pencil_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 - object\n Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_56 - object\n Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__plus_00_dot_11 - object\n Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_99 - object\n Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object\n Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object\n Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object\n Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle\n Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle\n GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle\n LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle\n loc_bar_2_bar_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_1_bar_6_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_1_bar__minus_1_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location\n loc_bar_2_bar_6_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar_6_bar_0_bar_30 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location\n loc_bar_1_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType)\n (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType)\n (receptacleType 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(coolable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90)\n (coolable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56)\n \n \n (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67)\n \n \n \n \n (inReceptacle KeyChain_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_60 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74)\n (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Pen_bar__plus_01_dot_29_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)\n (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)\n (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)\n (inReceptacle Mug_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)\n (inReceptacle AlarmClock_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)\n (inReceptacle AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_40 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CreditCard_bar__plus_01_dot_02_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)\n (inReceptacle CD_bar__plus_01_dot_06_bar__plus_00_dot_08_bar__plus_01_dot_88 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74)\n (inReceptacle Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_99 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72)\n (inReceptacle Pillow_bar__plus_00_dot_96_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)\n (inReceptacle Pencil_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)\n (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)\n (inReceptacle Mug_bar__plus_00_dot_26_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)\n (inReceptacle CellPhone_bar__plus_01_dot_31_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)\n (inReceptacle AlarmClock_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)\n (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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__plus_00_dot_11 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_40 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation CellPhone_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_93 loc_bar_2_bar_6_bar_1_bar_30)\n (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)\n (objectAtLocation Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation KeyChain_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 loc_bar_2_bar_6_bar_1_bar_30)\n (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)\n (objectAtLocation Pencil_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)\n (objectAtLocation Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_06_bar__plus_00_dot_08_bar__plus_01_dot_88 loc_bar_0_bar_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_56 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (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)\n (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)\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", "take alarmclock 2 from desk 1", "go to dresser 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-305/trial_T20190908_082736_108723/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082736_108723/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bd464362e4fa99a92ee0b8e3111b34675330c115 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_082736_108723/initial_state.pddl @@ -0,0 +1,534 @@ + +(define (problem plan_trial_T20190908_082736_108723) +(: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_22_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_40 - object + AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 - 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_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 - object + Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_01_dot_06_bar__plus_00_dot_08_bar__plus_01_dot_88 - object + CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 - 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_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object + KeyChain_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_60 - object + Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 - 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_26_bar__plus_00_dot_69_bar__minus_01_dot_62 - object + Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 - object + Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 - object + Pencil_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 - object + Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_56 - object + Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__plus_00_dot_11 - object + Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_99 - 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_1_bar__minus_3_bar_0_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 Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_56 PenType) + (objectType CellPhone_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_93 CellPhoneType) + (objectType Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 LaptopType) + (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 BookType) + (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 Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType) + (objectType CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 CellPhoneType) + (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType) + (objectType Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_99 PillowType) + (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType) + (objectType Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 MugType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType) + (objectType KeyChain_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_60 KeyChainType) + (objectType Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 MugType) + (objectType CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_07 CreditCardType) + (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 Pillow_bar__plus_00_dot_96_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 Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType) + (objectType CD_bar__plus_01_dot_06_bar__plus_00_dot_08_bar__plus_01_dot_88 CDType) + (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_22_bar__plus_00_dot_73_bar__plus_01_dot_07 AlarmClockType) + (objectType Pencil_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 PencilType) + (objectType AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_40 AlarmClockType) + (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType) + (objectType Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 MugType) + (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType) + (objectType AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 AlarmClockType) + (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 Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_56) + (pickupable CellPhone_bar__plus_01_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_93) + (pickupable Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54) + (pickupable Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81) + (pickupable CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25) + (pickupable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (pickupable Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_99) + (pickupable BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68) + (pickupable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62) + (pickupable KeyChain_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_60) + (pickupable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (pickupable CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_07) + (pickupable Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (pickupable BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65) + (pickupable Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__plus_00_dot_11) + (pickupable CD_bar__plus_01_dot_06_bar__plus_00_dot_08_bar__plus_01_dot_88) + (pickupable AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07) + (pickupable Pencil_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66) + (pickupable AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_40) + (pickupable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + (pickupable AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56) + (isReceptacleObject Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (isReceptacleObject Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62) + (isReceptacleObject Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (isReceptacleObject Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_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_1_bar__minus_3_bar_0_bar_30) + + (cleanable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (cleanable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62) + (cleanable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (cleanable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + + (heatable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62) + (heatable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (heatable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + (coolable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (coolable Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62) + (coolable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90) + (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 KeyChain_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_60 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74) + (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Pen_bar__plus_01_dot_29_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 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 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 Mug_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 AlarmClock_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 AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_40 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CreditCard_bar__plus_01_dot_02_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 CD_bar__plus_01_dot_06_bar__plus_00_dot_08_bar__plus_01_dot_88 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74) + (inReceptacle Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_99 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_54 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__plus_00_dot_11 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Pencil_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 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 Mug_bar__plus_00_dot_26_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 CellPhone_bar__plus_01_dot_31_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 AlarmClock_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_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_15_bar__plus_00_dot_73_bar__plus_00_dot_90 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__plus_00_dot_11 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_40 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 loc_bar_0_bar__minus_4_bar_2_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_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 loc_bar_2_bar_5_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_34_bar__plus_01_dot_14_bar__plus_00_dot_93 loc_bar_2_bar_6_bar_1_bar_30) + (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_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_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_21_bar__plus_00_dot_78_bar__minus_01_dot_54 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_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__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 loc_bar_2_bar_6_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_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_96_bar__plus_00_dot_85_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_06_bar__plus_00_dot_08_bar__plus_01_dot_88 loc_bar_0_bar_5_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_56 loc_bar_2_bar_5_bar_1_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_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 loc_bar_2_bar_5_bar_1_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 (?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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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_fa34f539", + "position": { + "x": 1.15256226, + "y": 0.727, + "z": 0.9011624 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 4044149850, + "scene_num": 305 + }, + "task_id": "trial_T20190908_082736_108723", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2871R3LEPWMMK_3PJ71Z61R7TF7BN5GSIXRT1UGK419D", + "high_descs": [ + "Turn left to face the wall, walk to the door on the right across the room, and turn right to reach the wooden desk.", + "Pick up the clock from the back left corner of the desk.", + "Turn around, hang a left at the wall and walk to the small wooden dresser near the window.", + "Turn on the small lamp on the right side of the dresser." + ], + "task_desc": "Examine a clock by the light of a small lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3UJ1CZ6IZKGW08KNQLK0BEJ1KP4S55", + "high_descs": [ + "Walk ahead and veer right to the desk.", + "Pick up the alarm clock on the top shelf.", + "Turn right and walk ahead to the night stand with the lamp on it.", + "Turn on the lamp on the night stand." + ], + "task_desc": "Look at an alarm clock by the light of a lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2NGMLBFZ3YQP5_3H7Z272LXAYDP57GQRWDXYANJURLPY", + "high_descs": [ + "Back up, turn left, turn right, walk to door, turn right to face desk.", + "Pick up the clock from top level of desk.", + "Turn right, cross room to wall, turn left, walk to nightstand.", + "Turn on the lamp on the nightstand." + ], + "task_desc": "Look at a clock under 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-AlarmClock-None-DeskLamp-305/trial_T20190908_120957_213796/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_120957_213796/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..71aa1e35334e64acd7c9bb6a08d0e357b3708a0b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_120957_213796/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_120957_213796)\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_26_bar__plus_00_dot_69_bar__minus_01_dot_66 - object\n AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_40 - object\n AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 - object\n BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object\n BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object\n Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object\n Book_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71 - object\n Book_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11 - object\n Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23 - object\n Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object\n Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object\n CD_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_40 - object\n CellPhone_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_25 - object\n Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object\n CreditCard_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_89 - object\n CreditCard_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 - object\n DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object\n KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_62 - object\n Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_26 - object\n LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object\n LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object\n Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object\n Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 - object\n Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71 - object\n Pencil_bar__plus_01_dot_10_bar__plus_00_dot_32_bar__plus_01_dot_52 - object\n Pencil_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_95 - object\n Pen_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_40 - object\n Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_81 - object\n Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_67 - object\n Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 - object\n Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object\n Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object\n Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object\n Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object\n Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle\n Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle\n Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle\n Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle\n Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle\n GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle\n LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle\n Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle\n loc_bar_2_bar_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location\n loc_bar_1_bar_6_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar_5_bar_1_bar_60 - location\n loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location\n loc_bar_1_bar__minus_1_bar_1_bar_0 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_6_bar_3_bar_60 - location\n loc_bar_2_bar_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location\n loc_bar_2_bar_6_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar_6_bar_0_bar_30 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_6_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType)\n (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType)\n (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType)\n (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType)\n (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType)\n (objectType Book_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71 BookType)\n (objectType Book_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11 BookType)\n (objectType CreditCard_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 CreditCardType)\n (objectType Pencil_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_95 PencilType)\n (objectType CreditCard_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_89 CreditCardType)\n (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType)\n (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType)\n (objectType CellPhone_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_25 CellPhoneType)\n (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType)\n (objectType AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_40 AlarmClockType)\n (objectType Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 PillowType)\n (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType)\n (objectType Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71 MugType)\n (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType)\n (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType)\n (objectType CD_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_40 CDType)\n (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType)\n (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType)\n (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType)\n (objectType Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_67 PenType)\n (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType)\n (objectType 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(objectAtLocation CellPhone_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30)\n (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)\n (objectAtLocation Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_26 loc_bar_0_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_89 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_62 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_40 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation Pencil_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_95 loc_bar_0_bar_5_bar_1_bar_45)\n (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)\n (objectAtLocation CD_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_40 loc_bar_2_bar_6_bar_1_bar_30)\n (objectAtLocation Pen_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_40 loc_bar_2_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (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)\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 dresser 1", "use desklamp 1", "take alarmclock 3 from dresser 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-305/trial_T20190908_120957_213796/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_120957_213796/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ef5b9c98107f3c95a9dcd348ab5e3baa7c2609e7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_120957_213796/initial_state.pddl @@ -0,0 +1,548 @@ + +(define (problem plan_trial_T20190908_120957_213796) +(: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_26_bar__plus_00_dot_69_bar__minus_01_dot_66 - object + AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_40 - object + AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 - 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_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71 - object + Book_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11 - object + Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23 - object + Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_40 - object + CellPhone_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_25 - object + Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object + CreditCard_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_89 - object + CreditCard_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 - object + DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object + KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_62 - object + Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_26 - 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 + Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71 - object + Pencil_bar__plus_01_dot_10_bar__plus_00_dot_32_bar__plus_01_dot_52 - object + Pencil_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_95 - object + Pen_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_40 - object + Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_81 - object + Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_67 - 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_2_bar__minus_1_bar_0_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 Book_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71 BookType) + (objectType Book_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11 BookType) + (objectType CreditCard_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 CreditCardType) + (objectType Pencil_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_95 PencilType) + (objectType CreditCard_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_89 CreditCardType) + (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 CellPhone_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_25 CellPhoneType) + (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType) + (objectType AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_40 AlarmClockType) + (objectType Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 PillowType) + (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType) + (objectType Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71 MugType) + (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 CD_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_40 CDType) + (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_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_67 PenType) + (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 KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_62 KeyChainType) + (objectType AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 AlarmClockType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType) + (objectType Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_26 LaptopType) + (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType) + (objectType Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23 BowlType) + (objectType Pencil_bar__plus_01_dot_10_bar__plus_00_dot_32_bar__plus_01_dot_52 PencilType) + (objectType AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 AlarmClockType) + (objectType Pen_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_40 PenType) + (objectType Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_81 PenType) + (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType) + (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 Book_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71) + (pickupable Book_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11) + (pickupable CreditCard_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73) + (pickupable Pencil_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_95) + (pickupable CreditCard_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_89) + (pickupable CellPhone_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_25) + (pickupable AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_40) + (pickupable Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51) + (pickupable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (pickupable Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71) + (pickupable BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68) + (pickupable CD_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_40) + (pickupable Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (pickupable BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65) + (pickupable Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_67) + (pickupable KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_62) + (pickupable AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66) + (pickupable Laptop_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__minus_01_dot_26) + (pickupable Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23) + (pickupable Pencil_bar__plus_01_dot_10_bar__plus_00_dot_32_bar__plus_01_dot_52) + (pickupable AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56) + (pickupable Pen_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_40) + (pickupable Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_81) + (pickupable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81) + (isReceptacleObject Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (isReceptacleObject Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71) + (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (isReceptacleObject Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23) + (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_2_bar__minus_1_bar_0_bar_30) + + (cleanable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (cleanable Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71) + (cleanable Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23) + (cleanable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81) + + (heatable Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71) + (heatable Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81) + (coolable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (coolable Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71) + (coolable Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23) + (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 Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_67 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74) + (inReceptacle Pencil_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_95 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74) + (inReceptacle Pencil_bar__plus_01_dot_10_bar__plus_00_dot_32_bar__plus_01_dot_52 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74) + (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Bowl_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CreditCard_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle AlarmClock_bar__plus_01_dot_36_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 Pen_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_40 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CreditCard_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_89 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle AlarmClock_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_40 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_81 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74) + (inReceptacle Book_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_00_dot_71 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Laptop_bar__plus_01_dot_21_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 Book_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Mug_bar__minus_00_dot_10_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 KeyChain_bar__plus_00_dot_14_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 AlarmClock_bar__plus_00_dot_26_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 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 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 CellPhone_bar__plus_01_dot_37_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 CD_bar__plus_01_dot_37_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_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_10_bar__plus_00_dot_56_bar__plus_01_dot_81 loc_bar_1_bar_6_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_10_bar__plus_00_dot_32_bar__plus_01_dot_52 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Book_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 AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_66 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_14_bar__plus_00_dot_32_bar__plus_01_dot_67 loc_bar_0_bar_5_bar_1_bar_45) + (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_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11 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_37_bar__plus_01_dot_14_bar__plus_01_dot_25 loc_bar_2_bar_6_bar_1_bar_30) + (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_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_2_bar_5_bar_1_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_21_bar__plus_00_dot_78_bar__minus_01_dot_26 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_89 loc_bar_2_bar_5_bar_1_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__plus_00_dot_14_bar__plus_00_dot_69_bar__minus_01_dot_62 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_40 loc_bar_2_bar_5_bar_1_bar_60) + (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_14_bar__plus_00_dot_32_bar__plus_01_dot_95 loc_bar_0_bar_5_bar_1_bar_45) + (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 CD_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_40 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Pen_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_40 loc_bar_2_bar_5_bar_1_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__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_71 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 (?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-305/trial_T20190908_120957_213796/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_120957_213796/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2321ab5bd7ecb967dd449ad4b8bdecb9590db101 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-305/trial_T20190908_120957_213796/traj_data.json @@ -0,0 +1,2317 @@ +{ + "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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wooden dresser near the window.", + "Turn on the small lamp on the right side of the dresser." + ], + "task_desc": "Examine a clock by the light of a small lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3KWTYT0873U9WVPX6CNZZS56SV4L5S", + "high_descs": [ + "Walk ahead and veer right to the desk.", + "Pick up the alarm clock on the left.", + "Turn right and veer right to the night table near the bed.", + "Turn on the lamp on the night table." + ], + "task_desc": "Look at an alarm clock by the light of a lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_3GM6G9ZBKQOVNFI87K6C2LQ9822TMD", + "high_descs": [ + "Turn right and go to the desk", + "Grab the bottle of lotion off of the desk", + "Turn right and stop at the nightstand at the right of the bed", + "Turn on the lamp" + ], + "task_desc": "Turning on the lamp on the nightstand", + "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-323/trial_T20190909_044736_929512/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044736_929512/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..77fbe02c3214988dd926bf20baf154d94b1da40b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044736_929512/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_T20190909_044736_929512)\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_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 - object\n AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30 - object\n Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 - object\n Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 - object\n Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 - object\n Book_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_46 - object\n Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 - object\n Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 - object\n CD_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_02_dot_92 - object\n CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26 - object\n CellPhone_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 - object\n CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26 - object\n Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 - object\n CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60 - object\n CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51 - object\n DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 - object\n DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 - object\n KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11 - object\n Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 - object\n LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 - object\n Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 - object\n Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36 - object\n Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 - object\n Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 - object\n Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66 - object\n Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 - object\n TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 - object\n Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 - object\n Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 - object\n Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 - receptacle\n Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 - receptacle\n Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 - receptacle\n GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 - receptacle\n Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n loc_bar_0_bar__minus_8_bar_3_bar_45 - location\n loc_bar_7_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_1_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar_5_bar_1_bar_60 - location\n loc_bar_9_bar__minus_6_bar_1_bar_15 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar_15 - location\n loc_bar_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_60 - location\n loc_bar_3_bar__minus_9_bar_1_bar_45 - location\n loc_bar_9_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar_8_bar__minus_10_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar_8_bar__minus_10_bar_1_bar_60 - location\n loc_bar_8_bar_6_bar_1_bar_45 - location\n loc_bar_6_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar_4_bar_0_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 GarbageCanType)\n (receptacleType Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 SafeType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 DrawerType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 DrawerType)\n (receptacleType Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 BedType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 SideTableType)\n (receptacleType Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 DresserType)\n (receptacleType Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 DrawerType)\n (receptacleType Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 BedType)\n (objectType Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 WindowType)\n (objectType Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 PillowType)\n (objectType Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 MirrorType)\n (objectType CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51 CreditCardType)\n (objectType CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26 CellPhoneType)\n (objectType Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 BowlType)\n (objectType Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 ChairType)\n (objectType Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 BookType)\n (objectType CD_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_02_dot_92 CDType)\n (objectType CellPhone_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 CellPhoneType)\n (objectType Book_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_46 BookType)\n (objectType Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 LaptopType)\n (objectType DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 DeskLampType)\n (objectType Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 BlindsType)\n (objectType Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 MugType)\n (objectType Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 PencilType)\n (objectType CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60 CreditCardType)\n (objectType AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30 AlarmClockType)\n (objectType CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26 CellPhoneType)\n (objectType DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 DeskLampType)\n (objectType KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11 KeyChainType)\n (objectType Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 BookType)\n (objectType Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36 MugType)\n (objectType Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 WindowType)\n (objectType LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 LightSwitchType)\n (objectType Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 BlindsType)\n (objectType Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66 PillowType)\n (objectType AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 AlarmClockType)\n (objectType TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 TeddyBearType)\n (objectType Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 PenType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\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 SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType 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 BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\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 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 LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n 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CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60)\n (pickupable AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30)\n (pickupable CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26)\n (pickupable KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11)\n (pickupable Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46)\n (pickupable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36)\n (pickupable Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66)\n (pickupable AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99)\n (pickupable TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36)\n (pickupable Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28)\n (isReceptacleObject Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (isReceptacleObject Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23)\n (isReceptacleObject Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36)\n (openable Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15)\n \n (atLocation agent1 loc_bar_4_bar_0_bar_3_bar_30)\n \n (cleanable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (cleanable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23)\n (cleanable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36)\n \n (heatable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23)\n (heatable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36)\n (coolable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (coolable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23)\n (coolable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36)\n \n \n (toggleable DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53)\n (toggleable DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32)\n \n \n \n \n (inReceptacle Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Book_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_46 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51)\n (inReceptacle CD_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_02_dot_92 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51)\n (inReceptacle CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51)\n (inReceptacle DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle CellPhone_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n \n \n (receptacleAtLocation Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 loc_bar_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 loc_bar_6_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 loc_bar_7_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 loc_bar_8_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 loc_bar_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 loc_bar_9_bar_6_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60 loc_bar_6_bar_4_bar_1_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26 loc_bar_6_bar_5_bar_1_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_3_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26 loc_bar_6_bar_4_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CD_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_02_dot_92 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 loc_bar__minus_3_bar__minus_12_bar_2_bar_15)\n (objectAtLocation Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 loc_bar_9_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 loc_bar_8_bar__minus_10_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 loc_bar_9_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 loc_bar_8_bar__minus_10_bar_2_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 AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take alarmclock 1 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-AlarmClock-None-DeskLamp-323/trial_T20190909_044736_929512/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044736_929512/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f3c74b5e7635f8071c4343be8ff623a9195e5456 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044736_929512/initial_state.pddl @@ -0,0 +1,620 @@ + +(define (problem plan_trial_T20190909_044736_929512) +(: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_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 - object + AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30 - object + Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 - object + Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 - object + Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 - object + Book_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_46 - object + Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 - object + Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 - object + CD_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_02_dot_92 - object + CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26 - object + CellPhone_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 - object + CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26 - object + Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 - object + CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60 - object + CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51 - object + DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 - object + DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 - object + KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11 - object + Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 - object + LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 - object + Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 - object + Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36 - object + Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 - object + Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 - object + Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66 - object + Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 - object + TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 - object + Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 - object + Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 - object + Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 - receptacle + Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 - receptacle + Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 - receptacle + Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 - receptacle + Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 - receptacle + Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 - receptacle + Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 - receptacle + Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 - receptacle + Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 - receptacle + Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 - receptacle + Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 - receptacle + Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 - receptacle + Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle + Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle + Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 - receptacle + GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 - receptacle + Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 - receptacle + SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle + SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle + loc_bar_0_bar__minus_8_bar_3_bar_45 - location + loc_bar_7_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_1_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_3_bar_3_bar_45 - location + loc_bar_9_bar_5_bar_1_bar_60 - location + loc_bar_9_bar__minus_6_bar_1_bar_15 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_12_bar_2_bar_15 - location + loc_bar_5_bar__minus_12_bar_2_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_60 - location + loc_bar_3_bar__minus_9_bar_1_bar_45 - location + loc_bar_9_bar_6_bar_1_bar_45 - location + loc_bar_4_bar__minus_10_bar_1_bar_45 - location + loc_bar_8_bar__minus_10_bar_2_bar_60 - location + loc_bar_6_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar_9_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar_8_bar__minus_10_bar_1_bar_60 - location + loc_bar_8_bar_6_bar_1_bar_45 - location + loc_bar_6_bar_5_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location + loc_bar_4_bar_0_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 GarbageCanType) + (receptacleType Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 SafeType) + (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 DrawerType) + (receptacleType Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 BedType) + (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 SideTableType) + (receptacleType Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 DresserType) + (receptacleType Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 DeskType) + (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 DrawerType) + (receptacleType Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 BedType) + (objectType Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 WindowType) + (objectType Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 PillowType) + (objectType Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 MirrorType) + (objectType CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51 CreditCardType) + (objectType CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26 CellPhoneType) + (objectType Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 BowlType) + (objectType Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 ChairType) + (objectType Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 BookType) + (objectType CD_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_02_dot_92 CDType) + (objectType CellPhone_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 CellPhoneType) + (objectType Book_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_46 BookType) + (objectType Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 LaptopType) + (objectType DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 DeskLampType) + (objectType Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 BlindsType) + (objectType Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 MugType) + (objectType Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 PencilType) + (objectType CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60 CreditCardType) + (objectType AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30 AlarmClockType) + (objectType CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26 CellPhoneType) + (objectType DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 DeskLampType) + (objectType KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11 KeyChainType) + (objectType Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 BookType) + (objectType Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36 MugType) + (objectType Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 WindowType) + (objectType LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 LightSwitchType) + (objectType Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 BlindsType) + (objectType Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66 PillowType) + (objectType AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 AlarmClockType) + (objectType TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 TeddyBearType) + (objectType Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 PenType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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 SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (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 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 LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (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 DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52) + (pickupable CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51) + (pickupable CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26) + (pickupable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24) + 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+ (pickupable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36) + (pickupable Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66) + (pickupable AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99) + (pickupable TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36) + (pickupable Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28) + (isReceptacleObject Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24) + (isReceptacleObject Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23) + (isReceptacleObject Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36) + (openable Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77) + (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96) + (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96) + (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51) + (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51) + (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51) + (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51) + (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96) + (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51) + (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51) + (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15) + + (atLocation agent1 loc_bar_4_bar_0_bar_3_bar_30) + + (cleanable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24) + (cleanable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23) + (cleanable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36) + + (heatable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23) + (heatable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36) + (coolable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24) + (coolable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23) + (coolable Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36) + + + (toggleable DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53) + (toggleable DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32) + + + + + (inReceptacle Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86) + (inReceptacle Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86) + (inReceptacle Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86) + (inReceptacle Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86) + (inReceptacle TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86) + (inReceptacle Book_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_46 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86) + (inReceptacle Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86) + (inReceptacle CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51) + (inReceptacle CD_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_02_dot_92 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22) + (inReceptacle Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22) + (inReceptacle KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22) + (inReceptacle CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51) + (inReceptacle CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26 Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51) + (inReceptacle DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51) + (inReceptacle Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51) + (inReceptacle CellPhone_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51) + (inReceptacle CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51) + + + (receptacleAtLocation Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 loc_bar_8_bar__minus_10_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 loc_bar_4_bar__minus_10_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 loc_bar_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 loc_bar_6_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 loc_bar_7_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 loc_bar_8_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 loc_bar_5_bar__minus_12_bar_2_bar_60) + (receptacleAtLocation Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 loc_bar_9_bar_6_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_23 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_40 loc_bar_9_bar_5_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_02_dot_45_bar__plus_00_dot_67_bar__minus_02_dot_99 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_75_bar__plus_00_dot_09_bar__plus_01_dot_60 loc_bar_6_bar_4_bar_1_bar_45) + (objectAtLocation Book_bar__minus_01_dot_31_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation Book_bar__minus_02_dot_44_bar__plus_00_dot_62_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_02_dot_64_bar__plus_00_dot_37_bar__plus_01_dot_26 loc_bar_6_bar_5_bar_1_bar_45) + (objectAtLocation Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_83_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_28 loc_bar_9_bar_5_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 loc_bar__minus_7_bar__minus_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_3_bar_60) + (objectAtLocation TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_06 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_71_bar__plus_00_dot_09_bar__plus_01_dot_26 loc_bar_6_bar_4_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_90_bar__minus_03_dot_11 loc_bar_8_bar__minus_10_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_31_bar__plus_00_dot_68_bar__minus_01_dot_66 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30) + (objectAtLocation CD_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_02_dot_92 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 loc_bar__minus_3_bar__minus_12_bar_2_bar_15) + (objectAtLocation Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 loc_bar_9_bar__minus_6_bar_1_bar_15) + (objectAtLocation Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 loc_bar_8_bar__minus_10_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_00_dot_36 loc_bar__minus_7_bar__minus_2_bar_3_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 loc_bar_9_bar__minus_6_bar_1_bar__minus_30) + (objectAtLocation Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 loc_bar_8_bar__minus_10_bar_2_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 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-323/trial_T20190909_044736_929512/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044736_929512/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a9eed46a5d876f44db0dee51e8331c253225fd03 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044736_929512/traj_data.json @@ -0,0 +1,3030 @@ +{ + "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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323 + }, + "task_id": "trial_T20190909_044736_929512", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_3AMW0RGHOGT3D5A124CSAQECOZ6PN3", + "high_descs": [ + "Turn left and go to the wall, then turn right to go to the nightstand.", + "Pick up the leftmost clock on top of the nightstand.", + "Turn around and go forward, then turn left at the end of the bed, step forward, then turn right and go to the wall, then turn right to face the desk.", + "Turn on the lamp on the desk." + ], + "task_desc": "Look at a clock in the light of a lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3I33IC7ZWIT01FF6R2WBS7MJEIHA2J", + "high_descs": [ + "turn left, go to left bedside table with two clocks", + "pick up clock on the left from bedside table", + "turn around, go to left side of desk chair", + "turn on lamp on desk" + ], + "task_desc": "pick up clock, turn on lamp", + "votes": [ + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3JV9LGBJWW5FIDHE00MIV60PDIQOGF", + "high_descs": [ + "go to the nightstand", + "pick up the clock on the left side of the stand", + "take the clock to the lamp", + "turn on the lamp" + ], + "task_desc": "look at the clock under the lamp", + "votes": [ + 0, + 1, + 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-323/trial_T20190909_044801_050688/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044801_050688/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d11b735b12d150196fb645088d680ce580aa1ecf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044801_050688/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_T20190909_044801_050688)\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_56_bar__plus_00_dot_90_bar__minus_03_dot_32 - object\n Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 - object\n Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 - object\n Book_bar__plus_02_dot_35_bar__plus_00_dot_89_bar__minus_03_dot_16 - object\n Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 - object\n CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34 - object\n CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 - object\n CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15 - object\n CellPhone_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_02_dot_92 - object\n Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 - object\n CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_32 - object\n CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 - object\n CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_44 - object\n DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 - object\n DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 - object\n KeyChain_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 - object\n Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 - object\n Laptop_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_26 - object\n Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 - object\n LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 - object\n Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 - object\n Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 - object\n Pencil_bar__plus_01_dot_87_bar__plus_00_dot_90_bar__minus_03_dot_04 - object\n Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_03_dot_07 - object\n Pencil_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__minus_03_dot_30 - object\n Pen_bar__plus_01_dot_86_bar__plus_00_dot_09_bar__minus_03_dot_10 - object\n Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_40 - object\n Pen_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_28 - object\n Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 - object\n Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 - object\n TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 - object\n Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 - object\n Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 - object\n Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 - receptacle\n Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 - receptacle\n Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 - receptacle\n Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 - receptacle\n GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 - receptacle\n Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle\n SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle\n loc_bar_0_bar__minus_8_bar_3_bar_45 - location\n loc_bar_7_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_1_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar_5_bar_1_bar_60 - location\n loc_bar_9_bar__minus_6_bar_1_bar_15 - location\n loc_bar_5_bar_0_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_12_bar_2_bar_15 - location\n loc_bar_5_bar__minus_12_bar_2_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_60 - location\n loc_bar_3_bar__minus_9_bar_1_bar_45 - location\n loc_bar_9_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar_8_bar__minus_10_bar_2_bar_60 - location\n loc_bar_6_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar_9_bar__minus_6_bar_1_bar__minus_30 - location\n loc_bar_8_bar__minus_10_bar_1_bar_60 - location\n loc_bar_8_bar_6_bar_1_bar_45 - location\n loc_bar_6_bar_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_1_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 GarbageCanType)\n (receptacleType Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 SafeType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 DrawerType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 SideTableType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 DrawerType)\n (receptacleType Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 BedType)\n (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 SideTableType)\n (receptacleType Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 DresserType)\n (receptacleType Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 DeskType)\n (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 DrawerType)\n (receptacleType Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 BedType)\n (objectType Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 LaptopType)\n (objectType Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 PillowType)\n (objectType Laptop_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_26 LaptopType)\n (objectType Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 WindowType)\n (objectType Pen_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_28 PenType)\n (objectType Pencil_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__minus_03_dot_30 PencilType)\n (objectType Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 PillowType)\n (objectType Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 MirrorType)\n (objectType CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_32 CreditCardType)\n (objectType KeyChain_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 KeyChainType)\n (objectType Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 BowlType)\n (objectType Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 ChairType)\n (objectType CellPhone_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_02_dot_92 CellPhoneType)\n (objectType DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 DeskLampType)\n (objectType AlarmClock_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_32 AlarmClockType)\n (objectType Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 MugType)\n (objectType Pencil_bar__plus_01_dot_87_bar__plus_00_dot_90_bar__minus_03_dot_04 PencilType)\n (objectType Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 BlindsType)\n (objectType Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 MugType)\n (objectType Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 LaptopType)\n (objectType CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_44 CreditCardType)\n (objectType Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_40 PenType)\n (objectType DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 DeskLampType)\n (objectType Pen_bar__plus_01_dot_86_bar__plus_00_dot_09_bar__minus_03_dot_10 PenType)\n (objectType Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_03_dot_07 PencilType)\n (objectType Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 WindowType)\n (objectType LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 LightSwitchType)\n (objectType Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 BlindsType)\n (objectType CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34 CDType)\n (objectType Book_bar__plus_02_dot_35_bar__plus_00_dot_89_bar__minus_03_dot_16 BookType)\n (objectType TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 TeddyBearType)\n (objectType CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15 CDType)\n (objectType CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 CDType)\n (objectType CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 CreditCardType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\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 SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType 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 BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\n (canContain SideTableType MugType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType AlarmClockType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\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 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 LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46)\n (pickupable Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33)\n (pickupable 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(pickupable Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30)\n (pickupable CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_44)\n (pickupable Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_40)\n (pickupable Pen_bar__plus_01_dot_86_bar__plus_00_dot_09_bar__minus_03_dot_10)\n (pickupable Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_03_dot_07)\n (pickupable CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34)\n (pickupable Book_bar__plus_02_dot_35_bar__plus_00_dot_89_bar__minus_03_dot_16)\n (pickupable TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36)\n (pickupable CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (pickupable CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71)\n (pickupable CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15)\n (isReceptacleObject Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (isReceptacleObject Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75)\n (isReceptacleObject Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28)\n (openable Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51)\n (openable Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51)\n (openable Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15)\n \n (atLocation agent1 loc_bar__minus_1_bar_5_bar_1_bar_30)\n \n (cleanable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (cleanable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75)\n (cleanable Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28)\n \n (heatable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75)\n (heatable Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28)\n (coolable Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24)\n (coolable Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75)\n (coolable Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28)\n \n \n (toggleable DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53)\n (toggleable DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32)\n \n \n \n \n (inReceptacle Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Laptop_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_26 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86)\n (inReceptacle Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_03_dot_07 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Pencil_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__minus_03_dot_30 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle CellPhone_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_02_dot_92 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15)\n (inReceptacle Pencil_bar__plus_01_dot_87_bar__plus_00_dot_90_bar__minus_03_dot_04 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_32 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Book_bar__plus_02_dot_35_bar__plus_00_dot_89_bar__minus_03_dot_16 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle AlarmClock_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_32 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22)\n (inReceptacle Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_44 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51)\n (inReceptacle Pen_bar__plus_01_dot_86_bar__plus_00_dot_09_bar__minus_03_dot_10 Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96)\n (inReceptacle Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_40 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pen_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_28 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle KeyChain_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07)\n (inReceptacle CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34 GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38)\n (inReceptacle CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77)\n \n \n (receptacleAtLocation Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 loc_bar_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 loc_bar_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 loc_bar_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 loc_bar_6_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 loc_bar_7_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 loc_bar_8_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 loc_bar__minus_4_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 loc_bar_5_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 loc_bar_9_bar_6_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 loc_bar_9_bar_6_bar_1_bar_45)\n (objectAtLocation Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 loc_bar_5_bar_0_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_87_bar__plus_00_dot_90_bar__minus_03_dot_04 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_86_bar__plus_00_dot_09_bar__minus_03_dot_10 loc_bar_3_bar__minus_9_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_44 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_03_dot_07 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_40 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34 loc_bar_5_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_35_bar__plus_00_dot_89_bar__minus_03_dot_16 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_28 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_3_bar_60)\n (objectAtLocation TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_26 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_02_dot_92 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 loc_bar_0_bar__minus_8_bar_3_bar_45)\n (objectAtLocation Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 loc_bar__minus_3_bar__minus_12_bar_2_bar_15)\n (objectAtLocation Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 loc_bar_9_bar__minus_6_bar_1_bar_15)\n (objectAtLocation Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 loc_bar_8_bar__minus_10_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 loc_bar__minus_7_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 loc_bar_9_bar__minus_6_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 loc_bar_8_bar__minus_10_bar_2_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 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-323/trial_T20190909_044801_050688/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044801_050688/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..56b5794f3fc2dd71ae58d8e9abd84d5407faf0dc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-323/trial_T20190909_044801_050688/initial_state.pddl @@ -0,0 +1,641 @@ + +(define (problem plan_trial_T20190909_044801_050688) +(: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_56_bar__plus_00_dot_90_bar__minus_03_dot_32 - object + Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 - object + Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 - object + Book_bar__plus_02_dot_35_bar__plus_00_dot_89_bar__minus_03_dot_16 - object + Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 - object + CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34 - object + CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 - object + CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15 - object + CellPhone_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_02_dot_92 - object + Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 - object + CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_32 - object + CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 - object + CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_44 - object + DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 - object + DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 - object + KeyChain_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 - object + Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 - object + Laptop_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_26 - object + Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 - object + LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 - object + Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 - object + Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 - object + Pencil_bar__plus_01_dot_87_bar__plus_00_dot_90_bar__minus_03_dot_04 - object + Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_03_dot_07 - object + Pencil_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__minus_03_dot_30 - object + Pen_bar__plus_01_dot_86_bar__plus_00_dot_09_bar__minus_03_dot_10 - object + Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_40 - object + Pen_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_28 - object + Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 - object + Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 - object + TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 - object + Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 - object + Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 - object + Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 - receptacle + Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 - receptacle + Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 - receptacle + Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 - receptacle + Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 - receptacle + Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 - receptacle + Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 - receptacle + Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 - receptacle + Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 - receptacle + Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 - receptacle + Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 - receptacle + Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 - receptacle + Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle + Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle + Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 - receptacle + GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 - receptacle + Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 - receptacle + SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 - receptacle + SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 - receptacle + loc_bar_0_bar__minus_8_bar_3_bar_45 - location + loc_bar_7_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_1_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_3_bar_3_bar_45 - location + loc_bar_9_bar_5_bar_1_bar_60 - location + loc_bar_9_bar__minus_6_bar_1_bar_15 - location + loc_bar_5_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_12_bar_2_bar_15 - location + loc_bar_5_bar__minus_12_bar_2_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_60 - location + loc_bar_3_bar__minus_9_bar_1_bar_45 - location + loc_bar_9_bar_6_bar_1_bar_45 - location + loc_bar_4_bar__minus_10_bar_1_bar_45 - location + loc_bar_8_bar__minus_10_bar_2_bar_60 - location + loc_bar_6_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar_9_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar_8_bar__minus_10_bar_1_bar_60 - location + loc_bar_8_bar_6_bar_1_bar_45 - location + loc_bar_6_bar_5_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_1_bar_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38 GarbageCanType) + (receptacleType Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77 SafeType) + (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_73_bar__minus_02_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_49_bar__minus_02_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_16_bar__plus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 DrawerType) + (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 SideTableType) + (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_00_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_00_dot_51 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_44_bar__plus_01_dot_51 DrawerType) + (receptacleType Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 BedType) + (receptacleType SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15 SideTableType) + (receptacleType Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51 DresserType) + (receptacleType Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 DeskType) + (receptacleType Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_72_bar__plus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_01_dot_51 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_42_bar__plus_00_dot_17_bar__minus_03_dot_15 DrawerType) + (receptacleType Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 BedType) + (objectType Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 LaptopType) + (objectType Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 PillowType) + (objectType Laptop_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_26 LaptopType) + (objectType Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 WindowType) + (objectType Pen_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_28 PenType) + (objectType Pencil_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__minus_03_dot_30 PencilType) + (objectType Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 PillowType) + (objectType Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 MirrorType) + (objectType CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_32 CreditCardType) + (objectType KeyChain_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 KeyChainType) + (objectType Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 BowlType) + (objectType Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 ChairType) + (objectType CellPhone_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_02_dot_92 CellPhoneType) + (objectType DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 DeskLampType) + (objectType AlarmClock_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_32 AlarmClockType) + (objectType Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 MugType) + (objectType Pencil_bar__plus_01_dot_87_bar__plus_00_dot_90_bar__minus_03_dot_04 PencilType) + (objectType Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 BlindsType) + (objectType Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 MugType) + (objectType Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 LaptopType) + (objectType CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_44 CreditCardType) + (objectType Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_40 PenType) + (objectType DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 DeskLampType) + (objectType Pen_bar__plus_01_dot_86_bar__plus_00_dot_09_bar__minus_03_dot_10 PenType) + (objectType Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_03_dot_07 PencilType) + (objectType Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 WindowType) + (objectType LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 LightSwitchType) + (objectType Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 BlindsType) + (objectType CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34 CDType) + (objectType Book_bar__plus_02_dot_35_bar__plus_00_dot_89_bar__minus_03_dot_16 BookType) + (objectType TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 TeddyBearType) + (objectType CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15 CDType) + (objectType CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 CDType) + (objectType CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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) + 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SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle Pencil_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__minus_03_dot_30 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle CellPhone_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_02_dot_92 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 SideTable_bar__minus_02_dot_42_bar__plus_00_dot_46_bar__minus_03_dot_15) + (inReceptacle Pencil_bar__plus_01_dot_87_bar__plus_00_dot_90_bar__minus_03_dot_04 Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22) + (inReceptacle CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_32 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Dresser_bar__plus_02_dot_68_bar_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07) + (inReceptacle CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34 GarbageCan_bar__plus_01_dot_34_bar__plus_00_dot_00_bar__minus_03_dot_38) + (inReceptacle CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 Safe_bar__plus_02_dot_70_bar__plus_01_dot_23_bar__plus_01_dot_77) + + + (receptacleAtLocation Bed_bar__plus_02_dot_40_bar__plus_00_dot_01_bar__minus_00_dot_07 loc_bar_5_bar_0_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_01_dot_64_bar__minus_00_dot_04_bar__minus_01_dot_86 loc_bar_0_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_32_bar__minus_00_dot_01_bar__minus_03_dot_22 loc_bar_8_bar__minus_10_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_88_bar__plus_00_dot_21_bar__minus_02_dot_96 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loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_00_dot_75 loc_bar__minus_7_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_76_bar__plus_01_dot_25_bar__plus_01_dot_71 loc_bar_9_bar_6_bar_1_bar_45) + (objectAtLocation Laptop_bar__plus_02_dot_26_bar__plus_00_dot_36_bar__minus_00_dot_30 loc_bar_5_bar_0_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_87_bar__plus_00_dot_90_bar__minus_03_dot_04 loc_bar_8_bar__minus_10_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_86_bar__plus_00_dot_09_bar__minus_03_dot_10 loc_bar_3_bar__minus_9_bar_1_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_04_bar__plus_00_dot_90_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_59_bar__plus_00_dot_62_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_44 loc_bar__minus_7_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_35_bar__plus_00_dot_69_bar__minus_03_dot_07 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_54_bar__plus_01_dot_23_bar__plus_01_dot_40 loc_bar_9_bar_5_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_34_bar__plus_00_dot_02_bar__minus_03_dot_34 loc_bar_5_bar__minus_12_bar_2_bar_60) + (objectAtLocation Book_bar__plus_02_dot_35_bar__plus_00_dot_89_bar__minus_03_dot_16 loc_bar_8_bar__minus_10_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_39_bar__plus_00_dot_68_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_69_bar__plus_01_dot_23_bar__plus_01_dot_28 loc_bar_9_bar_5_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_76_bar__plus_00_dot_89_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_02_dot_46_bar__plus_00_dot_67_bar__minus_00_dot_53 loc_bar__minus_7_bar__minus_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_70_bar__plus_01_dot_02_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_3_bar_60) + (objectAtLocation TeddyBear_bar__minus_00_dot_67_bar__plus_00_dot_61_bar__minus_01_dot_36 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__minus_02_dot_26 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_56_bar__plus_00_dot_90_bar__minus_03_dot_32 loc_bar_8_bar__minus_10_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_02_dot_44_bar__plus_00_dot_68_bar__minus_02_dot_92 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_64_bar__plus_01_dot_23_bar__plus_01_dot_51 loc_bar_9_bar_5_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_12_bar__plus_00_dot_66_bar__minus_01_dot_52 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__minus_02_dot_33 loc_bar_0_bar__minus_8_bar_3_bar_45) + (objectAtLocation Mirror_bar__plus_00_dot_53_bar__plus_01_dot_42_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30) + (objectAtLocation CD_bar__minus_02_dot_48_bar__plus_00_dot_68_bar__minus_03_dot_15 loc_bar__minus_7_bar__minus_12_bar_3_bar_60) + (objectAtLocation Window_bar__minus_00_dot_84_bar__plus_01_dot_39_bar__minus_03_dot_65 loc_bar__minus_3_bar__minus_12_bar_2_bar_15) + (objectAtLocation Window_bar__plus_02_dot_96_bar__plus_01_dot_51_bar__minus_01_dot_02 loc_bar_9_bar__minus_6_bar_1_bar_15) + (objectAtLocation Chair_bar__plus_02_dot_58_bar__plus_00_dot_00_bar__minus_02_dot_88 loc_bar_8_bar__minus_10_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_28 loc_bar__minus_7_bar__minus_2_bar_3_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_80_bar__plus_02_dot_09_bar__minus_03_dot_63 loc_bar__minus_3_bar__minus_12_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__plus_02_dot_93_bar__plus_02_dot_17_bar__minus_01_dot_00 loc_bar_9_bar__minus_6_bar_1_bar__minus_30) + (objectAtLocation Bowl_bar__plus_01_dot_84_bar__plus_00_dot_89_bar__minus_03_dot_24 loc_bar_8_bar__minus_10_bar_2_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 AlarmClockType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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reaching the dresser turn right, go forward, turn left after passing the couch, go forward to the wall, turn right, go forward to the desk.", + "Turn the lamp on the desk on.", + "Take the clock from the desk." + ], + "task_desc": "Take a clock from a desk with a lit lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3WI0P0II64JF36Z3Q22EJG2XBDVDR4", + "high_descs": [ + "Hang a right at the wooden dresser, take a left to the wall after the couch and walk to the wooden desk on the right.", + "Turn on the small lamp in the left corner of the desk.", + "Pick up the clock to the right of the small lamp." + ], + "task_desc": "Examine a clock by the light of a small lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3ERMJ6L4D1J8PHL1UH3BXPYRJFR7MF", + "high_descs": [ + "walk to face desk", + "turn on lamp on desk", + "pick up clock from the desk" + ], + "task_desc": "pick up a clock from an illuminated 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-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..501f3ecceaeb42368717edd89f966b16129480dd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/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 bowl 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_232204_574574)\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_20_bar__plus_00_dot_98_bar__minus_01_dot_61 - object\n AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 - object\n AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_52 - object\n BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object\n Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object\n Book_bar__minus_00_dot_88_bar__plus_02_dot_05_bar__plus_00_dot_58 - object\n Book_bar__minus_01_dot_30_bar__plus_00_dot_90_bar__plus_02_dot_33 - object\n Book_bar__minus_01_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_58 - object\n Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55 - object\n Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 - object\n Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object\n CD_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69 - object\n CD_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 - object\n CD_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_39 - object\n CellPhone_bar__minus_00_dot_94_bar__plus_02_dot_05_bar__plus_01_dot_75 - object\n CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36 - object\n CellPhone_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object\n Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object\n CreditCard_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 - object\n DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object\n KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_52 - object\n KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_67 - object\n Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75 - object\n LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object\n Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object\n Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_59 - object\n Pencil_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59 - object\n Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 - object\n Pencil_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 - object\n Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_28 - object\n Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_75 - object\n Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 - object\n Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 - object\n Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object\n Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle\n Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle\n Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle\n LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle\n Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_0 - location\n loc_bar_2_bar_9_bar_0_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar_6_bar_3_bar__minus_15 - location\n loc_bar_0_bar_8_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType)\n (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType)\n (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType)\n (objectType Book_bar__minus_00_dot_88_bar__plus_02_dot_05_bar__plus_00_dot_58 BookType)\n (objectType AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_52 AlarmClockType)\n (objectType Book_bar__minus_01_dot_30_bar__plus_00_dot_90_bar__plus_02_dot_33 BookType)\n (objectType KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_52 KeyChainType)\n (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType)\n (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType)\n (objectType Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_75 PillowType)\n (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType)\n (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType)\n (objectType Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 PencilType)\n (objectType Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75 LaptopType)\n (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType)\n (objectType CellPhone_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_45 CellPhoneType)\n (objectType Book_bar__minus_01_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_58 BookType)\n (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType)\n (objectType AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 AlarmClockType)\n (objectType KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_67 KeyChainType)\n (objectType CD_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_39 CDType)\n (objectType CreditCard_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 CreditCardType)\n (objectType Pencil_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 PencilType)\n (objectType Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55 BowlType)\n (objectType AlarmClock_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_61 AlarmClockType)\n (objectType CD_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69 CDType)\n (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType)\n (objectType Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_59 MugType)\n (objectType Pencil_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59 PencilType)\n (objectType Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType)\n (objectType CD_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 CDType)\n (objectType CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36 CellPhoneType)\n (objectType Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 PillowType)\n (objectType Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_28 PenType)\n (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType)\n (objectType CellPhone_bar__minus_00_dot_94_bar__plus_02_dot_05_bar__plus_01_dot_75 CellPhoneType)\n (objectType Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61 BowlType)\n (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType)\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 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 MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType StatueType)\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 DeskType PenType)\n (canContain DeskType BookType)\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 StatueType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Book_bar__minus_00_dot_88_bar__plus_02_dot_05_bar__plus_00_dot_58)\n (pickupable AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_52)\n (pickupable Book_bar__minus_01_dot_30_bar__plus_00_dot_90_bar__plus_02_dot_33)\n (pickupable KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_52)\n (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (pickupable Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_75)\n (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09)\n (pickupable Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44)\n (pickupable Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75)\n (pickupable CellPhone_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_45)\n (pickupable Book_bar__minus_01_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_58)\n (pickupable AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (pickupable KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_67)\n (pickupable CD_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_39)\n (pickupable CreditCard_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63)\n (pickupable Pencil_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35)\n (pickupable Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55)\n (pickupable AlarmClock_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (pickupable CD_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69)\n (pickupable Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (pickupable Pencil_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59)\n (pickupable Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28)\n (pickupable CD_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (pickupable CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (pickupable Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16)\n (pickupable Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_28)\n (pickupable CellPhone_bar__minus_00_dot_94_bar__plus_02_dot_05_bar__plus_01_dot_75)\n (pickupable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (isReceptacleObject Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55)\n (isReceptacleObject Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (isReceptacleObject Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61)\n \n \n (atLocation agent1 loc_bar__minus_6_bar__minus_2_bar_1_bar_30)\n \n (cleanable Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55)\n (cleanable Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (cleanable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61)\n \n (heatable Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (coolable Bowl_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_55)\n (coolable Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (coolable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_61)\n \n \n (toggleable DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56)\n \n \n \n \n (inReceptacle Pencil_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34)\n (inReceptacle Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_75 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Laptop_bar__minus_01_dot_44_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)\n (inReceptacle Pillow_bar__minus_01_dot_44_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)\n (inReceptacle CellPhone_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_45 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Book_bar__minus_01_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_58 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Book_bar__minus_01_dot_30_bar__plus_00_dot_90_bar__plus_02_dot_33 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle CD_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)\n (inReceptacle CellPhone_bar__minus_01_dot_00_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)\n (inReceptacle Pencil_bar__minus_01_dot_40_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)\n (inReceptacle AlarmClock_bar__minus_01_dot_20_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)\n (inReceptacle CD_bar__minus_00_dot_59_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)\n (inReceptacle Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle AlarmClock_bar__minus_01_dot_60_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)\n (inReceptacle Bowl_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)\n (inReceptacle AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle KeyChain_bar__minus_00_dot_79_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)\n (inReceptacle Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Book_bar__minus_00_dot_88_bar__plus_02_dot_05_bar__plus_00_dot_58 Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47)\n (inReceptacle CellPhone_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)\n (inReceptacle CD_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)\n (inReceptacle CreditCard_bar__minus_01_dot_19_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)\n (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)\n (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)\n (inReceptacle Mug_bar__minus_00_dot_62_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)\n (inReceptacle Pencil_bar__minus_01_dot_00_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)\n (inReceptacle KeyChain_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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CD_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)\n (objectAtLocation CellPhone_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)\n (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)\n (objectAtLocation KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Pencil_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_30_bar__plus_00_dot_90_bar__plus_02_dot_33 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_88_bar__plus_02_dot_05_bar__plus_00_dot_58 loc_bar_2_bar_6_bar_3_bar__minus_15)\n (objectAtLocation Pencil_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation CellPhone_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n (objectAtLocation Book_bar__minus_01_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_58 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_75 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (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)\n (objectAtLocation KeyChain_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)\n (objectAtLocation Bowl_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)\n (objectAtLocation CreditCard_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation CellPhone_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)\n (objectAtLocation CD_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)\n (objectAtLocation AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n (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)\n (objectAtLocation Mug_bar__minus_00_dot_62_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\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 BowlType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "use desklamp 1", "take bowl 2 from shelf 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9e3407754bdf185dd89fb521e23a85cc217cc8e0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/initial_state.pddl @@ -0,0 +1,520 @@ + +(define (problem plan_trial_T20190907_232204_574574) +(: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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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_6_bar__minus_2_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 DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType Book_bar__minus_00_dot_88_bar__plus_02_dot_05_bar__plus_00_dot_58 BookType) + (objectType AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_52 AlarmClockType) + (objectType Book_bar__minus_01_dot_30_bar__plus_00_dot_90_bar__plus_02_dot_33 BookType) + (objectType KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_52 KeyChainType) + (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 Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_75 PillowType) + (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 Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_44 PencilType) + (objectType Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75 LaptopType) + (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType) + (objectType CellPhone_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_45 CellPhoneType) + (objectType Book_bar__minus_01_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_58 BookType) + (objectType 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(inReceptacle Bowl_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 AlarmClock_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 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_52 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_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Book_bar__minus_00_dot_88_bar__plus_02_dot_05_bar__plus_00_dot_58 Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47) + (inReceptacle CellPhone_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 CD_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 CreditCard_bar__minus_01_dot_19_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 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 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 Mug_bar__minus_00_dot_62_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) + (inReceptacle Pencil_bar__minus_01_dot_00_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 KeyChain_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) + + + (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_40_bar__plus_00_dot_98_bar__minus_01_dot_20 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_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_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 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 KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__minus_01_dot_41_bar__plus_00_dot_43_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_30_bar__plus_00_dot_90_bar__plus_02_dot_33 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_88_bar__plus_02_dot_05_bar__plus_00_dot_58 loc_bar_2_bar_6_bar_3_bar__minus_15) + (objectAtLocation Pencil_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CellPhone_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation CD_bar__minus_00_dot_59_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_57_bar__plus_00_dot_90_bar__plus_00_dot_58 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_20_bar__plus_00_dot_99_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_98_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_44_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_03_bar__plus_00_dot_95_bar__plus_01_dot_75 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_57_bar__plus_01_dot_54_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Bowl_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 CreditCard_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation 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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 BowlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..66b5e528e7af28498d7d42c34bab3502399d6b8f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232204_574574/traj_data.json @@ -0,0 +1,2166 @@ +{ + "images": [ + { + "high_idx": 0, + 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"x": 0.0, + "y": 347.500916, + "z": 0.0 + } + }, + { + "objectName": "BasketBall_79639fdd", + "position": { + "x": -1.65760016, + "y": 0.12600024, + "z": -0.09081757 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_c45454a8", + "position": { + "x": -1.19809616, + "y": 0.9880515, + "z": -1.28130066 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_2ab1dea5", + "position": { + "x": -1.413382, + "y": 0.425188541, + "z": -1.34525383 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_ec2a1448", + "position": { + "x": -1.43561244, + "y": 0.894005239, + "z": 1.746681 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_ecb6b6d6", + "position": { + "x": -1.43561244, + "y": 0.9529948, + "z": 1.16099143 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_666099e9", + "position": { + "x": -0.7928121, + "y": 0.982545853, + "z": -1.5249877 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_02cd1747", + "position": { + "x": -0.8113139, + "y": 1.53712344, + "z": -1.55385542 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_8cd9998a", + "position": { + "x": -1.19188428, + "y": 1.53652143, + "z": -1.63214469 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_6e288678", + "position": { + "x": -0.9409811, + "y": 2.05326962, + "z": 1.746681 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_dc6e6a5d", + "position": { + "x": -0.9954541, + "y": 0.9811067, + "z": -1.60621667 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_8fa1421f", + "position": { + "x": -1.40073812, + "y": 0.9820463, + "z": -1.20007169 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_9c9dffb8", + "position": { + "x": -0.6210288, + "y": 1.53452539, + "z": -1.593 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_f17ac2ff", + "position": { + "x": -1.6033802, + "y": 0.9887964, + "z": -1.28130066 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3823257025, + "scene_num": 304 + }, + "task_id": "trial_T20190907_232204_574574", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A272X64FOZFYLB_3DIP6YHAPF96SIC9RGIHXV5BR9X8EW", + "high_descs": [ + "Turn right towards the desk.", + "Pick up the bowl which is on the top shelf of the desk.", + "Walk to the left side of the desk and stand to the left of the lamp on the desk.", + "Turn on the lamp." + ], + "task_desc": "Examine a bowl by the light of a desk lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3LPW2N6LKWJ4UWQTJIQJPTHNB7T5UB", + "high_descs": [ + "Turn right and face desk with shelf.", + "Remove bowl from shelf, to the right of the cup.", + "Turn left, proceed to end of desk, turn right to face wall. ", + "Turn on lamp above you." + ], + "task_desc": "Pick up bowl, turn on light.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3SKRO2GZ748R3IKYOHK5GGV8X0P1KR", + "high_descs": [ + "Move to the right facing the top desk shelf with the bowl on top ", + "Pick up the bowl on top of the desk shelf to the left", + "Carry the bowl over to the far left side of the desk shelf where the lamp is", + "Turn on the lamp" + ], + "task_desc": "Carry a bowl while turning 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-Bowl-None-DeskLamp-304/trial_T20190907_232217_890241/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232217_890241/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..ebcfd4af8d1484b8b6290e2acdfec5a9d324d950 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232217_890241/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 bowl 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_232217_890241)\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_38_bar__plus_01_dot_54_bar__minus_01_dot_63 - object\n BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object\n Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object\n Book_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_01_dot_75 - object\n Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 - object\n Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52 - object\n Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object\n CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 - object\n CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_69 - object\n CD_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - object\n CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 - object\n CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_35 - object\n CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 - object\n Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object\n Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object\n CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_35 - object\n CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_42_bar__minus_01_dot_35 - object\n DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object\n KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21 - object\n Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_04 - object\n LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object\n Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object\n Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20 - object\n Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67 - object\n Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 - object\n Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_28 - object\n Pencil_bar__minus_01_dot_67_bar__plus_00_dot_43_bar__minus_01_dot_26 - object\n Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20 - object\n Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_45 - object\n Statue_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_61 - object\n Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 - object\n Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object\n Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle\n Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle\n Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle\n LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle\n Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_0 - location\n loc_bar_2_bar_9_bar_0_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar_6_bar_3_bar__minus_15 - location\n loc_bar_0_bar_8_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_3_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType)\n (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType)\n (objectType Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_28 PencilType)\n (objectType Pencil_bar__minus_01_dot_67_bar__plus_00_dot_43_bar__minus_01_dot_26 PencilType)\n (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType)\n (objectType Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType)\n (objectType Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52 BowlType)\n (objectType CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 CellPhoneType)\n (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType)\n (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType)\n (objectType CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_35 CellPhoneType)\n (objectType CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 CDType)\n (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType)\n (objectType Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20 MugType)\n (objectType Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_04 LaptopType)\n (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType)\n (objectType CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_69 CDType)\n (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType)\n (objectType Statue_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_61 StatueType)\n (objectType Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 BowlType)\n (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType)\n (objectType Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_45 PillowType)\n (objectType CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_35 CreditCardType)\n (objectType CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_42_bar__minus_01_dot_35 CreditCardType)\n (objectType Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 PencilType)\n (objectType CD_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 CDType)\n (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType)\n (objectType KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21 KeyChainType)\n (objectType Book_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_01_dot_75 BookType)\n (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_63 AlarmClockType)\n (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType)\n (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType)\n (objectType CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 CellPhoneType)\n (objectType Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67 MugType)\n (objectType Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20 PenType)\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 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 MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType StatueType)\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 DeskType PenType)\n (canContain DeskType BookType)\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 StatueType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (pickupable Pencil_bar__minus_01_dot_67_bar__plus_00_dot_43_bar__minus_01_dot_26)\n (pickupable Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28)\n (pickupable Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52)\n (pickupable CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52)\n (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (pickupable 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(pickupable CD_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (pickupable KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21)\n (pickupable Book_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_01_dot_75)\n (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_63)\n (pickupable CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39)\n (pickupable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67)\n (pickupable Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20)\n (isReceptacleObject Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52)\n (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (isReceptacleObject Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (isReceptacleObject Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (isReceptacleObject 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Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Pencil_bar__minus_01_dot_40_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)\n (inReceptacle Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CD_bar__minus_01_dot_40_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)\n (inReceptacle Bowl_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)\n (inReceptacle CD_bar__minus_01_dot_60_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)\n (inReceptacle CellPhone_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)\n (inReceptacle Statue_bar__minus_00_dot_59_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)\n (inReceptacle Bowl_bar__minus_00_dot_39_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)\n (inReceptacle Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CD_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)\n (inReceptacle CellPhone_bar__minus_01_dot_41_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)\n (inReceptacle KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34)\n (inReceptacle CellPhone_bar__minus_01_dot_41_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)\n (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)\n (inReceptacle Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (inReceptacle Pencil_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)\n (inReceptacle AlarmClock_bar__minus_01_dot_38_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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bowl_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)\n (objectAtLocation Pencil_bar__minus_01_dot_67_bar__plus_00_dot_43_bar__minus_01_dot_26 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_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)\n (objectAtLocation CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CD_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)\n (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)\n (objectAtLocation Book_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_01_dot_75 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_04 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_45 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (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)\n (objectAtLocation KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_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)\n (objectAtLocation CD_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)\n (objectAtLocation AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (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)\n (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)\n (objectAtLocation Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\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 BowlType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take bowl 2 from desk 1", "go to shelf 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-Bowl-None-DeskLamp-304/trial_T20190907_232217_890241/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232217_890241/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c49260f30d1ad5458a1fca59c7d366a602461395 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232217_890241/initial_state.pddl @@ -0,0 +1,509 @@ + +(define (problem plan_trial_T20190907_232217_890241) +(: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_63 - 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_16_bar__plus_00_dot_90_bar__plus_01_dot_75 - object + Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 - object + Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52 - object + Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object + CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 - object + CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_69 - object + CD_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 - object + CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_35 - object + CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_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_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_35 - object + CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_42_bar__minus_01_dot_35 - object + DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object + KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21 - object + Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_04 - 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_59_bar__plus_00_dot_98_bar__minus_01_dot_20 - object + Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67 - object + Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_28 - object + Pencil_bar__minus_01_dot_67_bar__plus_00_dot_43_bar__minus_01_dot_26 - object + Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20 - object + Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_45 - object + Statue_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_61 - object + Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 - 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_1_bar__minus_3_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 Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_28 PencilType) + (objectType Pencil_bar__minus_01_dot_67_bar__plus_00_dot_43_bar__minus_01_dot_26 PencilType) + (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType) + (objectType Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52 BowlType) + (objectType CellPhone_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 CellPhoneType) + (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 CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_35 CellPhoneType) + (objectType CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 CDType) + (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType) + (objectType Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20 MugType) + (objectType Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_04 LaptopType) + (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType) + (objectType CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_69 CDType) + (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType) + (objectType Statue_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_61 StatueType) + (objectType Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28 BowlType) + (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType) + (objectType Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_45 PillowType) + (objectType CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_35 CreditCardType) + (objectType CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_42_bar__minus_01_dot_35 CreditCardType) + (objectType Pencil_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 PencilType) + (objectType CD_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 CDType) + (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType) + (objectType KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21 KeyChainType) + (objectType Book_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_01_dot_75 BookType) + (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_63 AlarmClockType) + (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 CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 CellPhoneType) + (objectType Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67 MugType) + (objectType Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20 PenType) + (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) 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(pickupable CD_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21) + (pickupable Book_bar__minus_01_dot_16_bar__plus_00_dot_90_bar__plus_01_dot_75) + (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_63) + (pickupable CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39) + (pickupable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67) + (pickupable Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20) + (isReceptacleObject Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52) + (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (isReceptacleObject Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20) + (isReceptacleObject Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28) + (isReceptacleObject Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67) + + + (atLocation agent1 loc_bar__minus_1_bar__minus_3_bar_1_bar_30) + + (cleanable Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52) + (cleanable Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20) + (cleanable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28) + (cleanable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67) + + (heatable Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20) + (heatable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67) + (coolable Bowl_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_52) + (coolable Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20) + (coolable Bowl_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_28) + (coolable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67) + + + (toggleable 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+ (inReceptacle Pencil_bar__minus_01_dot_40_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 Mug_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 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_69 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Bowl_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 CD_bar__minus_01_dot_60_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 CellPhone_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 Statue_bar__minus_00_dot_59_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 Bowl_bar__minus_00_dot_39_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 Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CD_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 CellPhone_bar__minus_01_dot_41_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 KeyChain_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_01_dot_21 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34) + (inReceptacle CellPhone_bar__minus_01_dot_41_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 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 Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67 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_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_63 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_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CD_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_10_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_42_bar__minus_01_dot_35 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_52 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_67_bar__plus_00_dot_43_bar__minus_01_dot_26 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_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_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 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_16_bar__plus_00_dot_90_bar__plus_01_dot_75 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_20_bar__plus_00_dot_99_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_04 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_01_dot_03_bar__plus_00_dot_95_bar__plus_01_dot_45 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_59_bar__plus_00_dot_10_bar__minus_01_dot_21 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_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_33_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_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 CD_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 AlarmClock_bar__minus_01_dot_38_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_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_61 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 BowlType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Bowl-None-DeskLamp-304/trial_T20190907_232217_890241/traj_data.json 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0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_a85b8778", + "position": { + "x": 1.563, + "y": 0.286, + "z": -1.069 + }, + "rotation": { + "x": 0.0, + "y": 347.500916, + "z": 0.0 + } + }, + { + "objectName": "BasketBall_79639fdd", + "position": { + "x": -1.65760016, + "y": 0.12600024, + "z": -0.09081757 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_c45454a8", + "position": { + "x": -1.19809616, + "y": 0.9880515, + "z": -1.20007169 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_2ab1dea5", + "position": { + "x": -1.67497337, + "y": 0.425188541, + "z": -1.25516248 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_ec2a1448", + "position": { + "x": -1.43561244, + "y": 0.894005239, + "z": 2.03952575 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_ecb6b6d6", + "position": { + "x": -1.02676511, + "y": 0.9529948, + "z": 1.4538362 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_666099e9", + "position": { + "x": -1.58777618, + "y": 0.09838659, + "z": -1.21011674 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_02cd1747", + "position": { + "x": -0.9954541, + "y": 0.982098043, + "z": -1.5249877 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_8cd9998a", + "position": { + "x": -1.58777618, + "y": 0.421835363, + "z": -1.34525383 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_6e288678", + "position": { + "x": -1.413382, + "y": 0.09916634, + "z": -1.34525383 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_dc6e6a5d", + "position": { + "x": -1.40073812, + "y": 0.982005358, + "z": -1.68744564 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_8fa1421f", + "position": { + "x": -1.38216937, + "y": 1.5370717, + "z": -1.63214469 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_9c9dffb8", + "position": { + "x": -1.57245445, + "y": 1.53452539, + "z": -1.67128921 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_f17ac2ff", + "position": { + "x": -0.7928121, + "y": 0.9887964, + "z": -1.28130066 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2058424162, + "scene_num": 304 + }, + "task_id": "trial_T20190907_232217_890241", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A38Z99XF4NDNH0_33C7UALJVOF78HIXFSN2QBMH2ZL18W", + "high_descs": [ + "Move to the right facing the left side of the desk", + "Pick up the brown plate on the edge of the desk", + "Carry the brown plate upward to the top shelf of the desk where the lamp is", + "Turn on the lamp" + ], + "task_desc": "Carry a brown plate while turning on a lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3RJSC4XJ13BOEAEDLBCZ0MTGVHG05S", + "high_descs": [ + "Turn around to face the corner of the brown desk.", + "Pick up the brown bowl from off of the desk.", + "Turn to the left to face the wall next to the desk.", + "Turn the light on behind the desk." + ], + "task_desc": "Turn the light on behind the desk while holding the bowl.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3VELCLL3GN0GNWSKN6T80333P3Y1FD", + "high_descs": [ + "walk over to the corner of the table standing next to the trash bin", + "pick up the brown bowl from the table", + "walk the bowl across the room near the window to raise it up toward the lamp", + "turn the lap on to examine the bowl" + ], + "task_desc": "get a bowl from the table to examine it under the 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-CreditCard-None-FloorLamp-225/trial_T20190909_103849_934231/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-225/trial_T20190909_103849_934231/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..652b4cc644171e01c2164502c0aff22ea2f1467b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-225/trial_T20190909_103849_934231/initial_state.pddl @@ -0,0 +1,550 @@ + +(define (problem plan_trial_T20190909_103849_934231) +(: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_87_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_55_bar__plus_00_dot_76_bar__plus_02_dot_98 - object + CreditCard_bar__minus_00_dot_97_bar__plus_00_dot_38_bar__plus_00_dot_57 - object + CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_99 - 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_00_dot_57_bar__plus_00_dot_43_bar__plus_03_dot_10 - object + KeyChain_bar__minus_04_dot_56_bar__plus_00_dot_42_bar__plus_03_dot_41 - object + Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 - object + Laptop_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_41 - object + Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_64 - object + LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object + Newspaper_bar__minus_00_dot_43_bar__plus_00_dot_58_bar__plus_03_dot_10 - object + Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object + Pillow_bar__minus_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_41 - object + RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_98 - object + RemoteControl_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_64 - object + Statue_bar__minus_00_dot_44_bar__plus_00_dot_17_bar__plus_02_dot_65 - object + Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_64 - 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_48_bar__plus_00_dot_77_bar__plus_03_dot_13 - 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_43_bar__plus_02_dot_99 - object + Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_53 - object + Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_43 - 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_3_bar_7_bar_1_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 CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_99 CreditCardType) + (objectType RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_98 RemoteControlType) + (objectType KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_43_bar__plus_03_dot_10 KeyChainType) + (objectType TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_03_dot_13 TissueBoxType) + (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 Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_64 StatueType) + (objectType RemoteControl_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_64 RemoteControlType) + (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType) + (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType) + (objectType CreditCard_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_98 CreditCardType) + (objectType Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 TelevisionType) + (objectType Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_53 WatchType) + (objectType FloorLamp_bar__minus_04_dot_64_bar__plus_00_dot_01_bar__plus_00_dot_36 FloorLampType) + (objectType KeyChain_bar__minus_04_dot_56_bar__plus_00_dot_42_bar__plus_03_dot_41 KeyChainType) + (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 Newspaper_bar__minus_00_dot_43_bar__plus_00_dot_58_bar__plus_03_dot_10 NewspaperType) + (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType) + (objectType Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_64 LaptopType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType Laptop_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_41 LaptopType) + (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 LaptopType) + (objectType Watch_bar__minus_00_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_99 WatchType) + (objectType CreditCard_bar__minus_00_dot_97_bar__plus_00_dot_38_bar__plus_00_dot_57 CreditCardType) + (objectType Pillow_bar__minus_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_41 PillowType) + (objectType Statue_bar__minus_00_dot_44_bar__plus_00_dot_17_bar__plus_02_dot_65 StatueType) + (objectType Box_bar__minus_02_dot_87_bar__plus_00_dot_52_bar__plus_04_dot_65 BoxType) + (objectType TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68 TissueBoxType) + (objectType Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_43 WatchType) + (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 CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_99) + (pickupable RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_98) + (pickupable KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_43_bar__plus_03_dot_10) + (pickupable TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_03_dot_13) + (pickupable Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_64) + (pickupable RemoteControl_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_64) + (pickupable CreditCard_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_98) + (pickupable Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_53) + (pickupable KeyChain_bar__minus_04_dot_56_bar__plus_00_dot_42_bar__plus_03_dot_41) + (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14) + (pickupable Newspaper_bar__minus_00_dot_43_bar__plus_00_dot_58_bar__plus_03_dot_10) + (pickupable Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_64) + (pickupable Laptop_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_41) + (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38) + (pickupable Watch_bar__minus_00_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_99) + (pickupable CreditCard_bar__minus_00_dot_97_bar__plus_00_dot_38_bar__plus_00_dot_57) + (pickupable Pillow_bar__minus_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_41) + (pickupable Statue_bar__minus_00_dot_44_bar__plus_00_dot_17_bar__plus_02_dot_65) + (pickupable Box_bar__minus_02_dot_87_bar__plus_00_dot_52_bar__plus_04_dot_65) + (pickupable TissueBox_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_02_dot_68) + (pickupable Watch_bar__minus_04_dot_52_bar__plus_00_dot_51_bar__plus_03_dot_43) + (isReceptacleObject Box_bar__minus_02_dot_87_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) + + 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+ (inReceptacle Pillow_bar__minus_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_41 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_43_bar__plus_03_dot_10 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04) + (inReceptacle Watch_bar__minus_00_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_99 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_42_bar__plus_03_dot_04) + (inReceptacle RemoteControl_bar__minus_01_dot_74_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 CreditCard_bar__minus_01_dot_74_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_89_bar__plus_00_dot_21_bar__plus_02_dot_64 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle KeyChain_bar__minus_04_dot_56_bar__plus_00_dot_42_bar__plus_03_dot_41 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + (inReceptacle Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_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_97_bar__plus_00_dot_38_bar__plus_00_dot_57 ArmChair_bar__minus_00_dot_88_bar__minus_00_dot_03_bar__plus_00_dot_57) + (inReceptacle Newspaper_bar__minus_00_dot_43_bar__plus_00_dot_58_bar__plus_03_dot_10 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_57_bar__plus_03_dot_04) + (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 RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle CreditCard_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_98 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Watch_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_53 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) + + + (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_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_43_bar__plus_03_dot_10 loc_bar__minus_6_bar_14_bar_1_bar_45) + (objectAtLocation RemoteControl_bar__minus_00_dot_33_bar__plus_00_dot_76_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 TissueBox_bar__minus_00_dot_48_bar__plus_00_dot_77_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_38_bar__plus_00_dot_42_bar__plus_04_dot_41 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_00_dot_55_bar__plus_00_dot_76_bar__plus_02_dot_98 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_43 loc_bar__minus_17_bar_17_bar_2_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_87_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_97_bar__plus_00_dot_38_bar__plus_00_dot_57 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_18_bar__plus_00_dot_76_bar__plus_02_dot_68 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_04_dot_50_bar__plus_00_dot_42_bar__plus_02_dot_64 loc_bar__minus_13_bar_8_bar_3_bar_45) + (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_01_dot_74_bar__plus_00_dot_20_bar__plus_02_dot_64 loc_bar__minus_4_bar_11_bar_3_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_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_41 loc_bar__minus_10_bar_13_bar_0_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_56_bar__plus_00_dot_42_bar__plus_03_dot_41 loc_bar__minus_15_bar_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_00_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_99 loc_bar__minus_6_bar_14_bar_1_bar_45) + (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_43_bar__plus_00_dot_58_bar__plus_03_dot_10 loc_bar__minus_5_bar_14_bar_1_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_00_dot_44_bar__plus_00_dot_17_bar__plus_02_dot_65 loc_bar__minus_6_bar_8_bar_1_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_89_bar__plus_00_dot_21_bar__plus_02_dot_64 loc_bar__minus_4_bar_11_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-225/trial_T20190909_103849_934231/traj_data.json 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lamp." + ], + "task_desc": "Examine a credit card by the light of a tall lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3EFE17QCRFW8G14IRNL90BMRPGZSHQ", + "high_descs": [ + "Turn right and go to the chair.", + "Pick up the credit card on the chair.", + "Turn right and go to the tall lamp.", + "Turn on the lamp." + ], + "task_desc": "Examine the credit card with the light of the tall lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3WOKGM4L747I796TMYXFAED96AR0OW", + "high_descs": [ + "Turn right and walk to the chair.", + "Pick up the credit card on the chair.", + "Turn right and walk to the left side of the couch where the lamp is.", + "Turn on the lamp." + ], + "task_desc": "Look at a credit card 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-CreditCard-None-FloorLamp-225/trial_T20190909_110049_018526/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-225/trial_T20190909_110049_018526/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..48e96b01862b751f97a9e63e77cb32a41289d520 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-225/trial_T20190909_110049_018526/initial_state.pddl @@ -0,0 +1,551 @@ + +(define (problem plan_trial_T20190909_110049_018526) +(: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_25_bar__plus_00_dot_86_bar__plus_02_dot_53 - object + Box_bar__minus_04_dot_42_bar__plus_00_dot_52_bar__plus_01_dot_41 - object + Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object + CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 - object + CreditCard_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_38 - object + CreditCard_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_64 - 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_47_bar__plus_00_dot_43_bar__plus_03_dot_28 - object + KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_26 - object + Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 - object + Laptop_bar__minus_01_dot_88_bar__plus_00_dot_42_bar__plus_04_dot_49 - object + LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 - object + Newspaper_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_64 - object + Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object + Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_49 - object + Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_64 - object + RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_36 - object + RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 - object + RemoteControl_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 - object + Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 - object + Statue_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 - object + Television_bar__plus_00_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_66 - object + TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_03_dot_13 - object + Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 - object + Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_99 - object + Watch_bar__minus_04_dot_70_bar__plus_00_dot_51_bar__plus_03_dot_48 - 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_7_bar_3_bar_2_bar_15 - location + loc_bar__minus_6_bar_7_bar_1_bar_60 - location + loc_bar__minus_5_bar_7_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 Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_49 PillowType) + (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 Statue_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76 StatueType) + (objectType LightSwitch_bar__minus_03_dot_23_bar__plus_01_dot_34_bar__plus_05_dot_00 LightSwitchType) + (objectType Box_bar__minus_00_dot_25_bar__plus_00_dot_86_bar__plus_02_dot_53 BoxType) + (objectType RemoteControl_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 RemoteControlType) + (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType) + (objectType KeyChain_bar__minus_04_dot_47_bar__plus_00_dot_43_bar__plus_03_dot_28 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 KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_26 KeyChainType) + (objectType Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 StatueType) + (objectType CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13 CreditCardType) + (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 Watch_bar__minus_04_dot_70_bar__plus_00_dot_51_bar__plus_03_dot_48 WatchType) + (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType) + (objectType TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_03_dot_13 TissueBoxType) + (objectType Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 LaptopType) + (objectType CreditCard_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_64 CreditCardType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_99 WatchType) + (objectType Newspaper_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_64 NewspaperType) + (objectType RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50 RemoteControlType) + (objectType Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_64 PillowType) + (objectType Laptop_bar__minus_01_dot_88_bar__plus_00_dot_42_bar__plus_04_dot_49 LaptopType) + (objectType CreditCard_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_38 CreditCardType) + (objectType RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_36 RemoteControlType) + (objectType Box_bar__minus_04_dot_42_bar__plus_00_dot_52_bar__plus_01_dot_41 BoxType) + (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 Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_49) + (pickupable Statue_bar__minus_01_dot_97_bar__plus_00_dot_20_bar__plus_02_dot_76) + (pickupable Box_bar__minus_00_dot_25_bar__plus_00_dot_86_bar__plus_02_dot_53) + (pickupable RemoteControl_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87) + (pickupable KeyChain_bar__minus_04_dot_47_bar__plus_00_dot_43_bar__plus_03_dot_28) + (pickupable KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_26) + (pickupable Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15) + (pickupable CreditCard_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_03_dot_13) + (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14) + (pickupable Watch_bar__minus_04_dot_70_bar__plus_00_dot_51_bar__plus_03_dot_48) + (pickupable TissueBox_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_03_dot_13) + (pickupable Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83) + (pickupable CreditCard_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_64) + (pickupable Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_99) + (pickupable Newspaper_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_64) + (pickupable RemoteControl_bar__minus_00_dot_69_bar__plus_00_dot_38_bar__plus_00_dot_50) + (pickupable Pillow_bar__minus_04_dot_50_bar__plus_00_dot_48_bar__plus_02_dot_64) + (pickupable Laptop_bar__minus_01_dot_88_bar__plus_00_dot_42_bar__plus_04_dot_49) + (pickupable CreditCard_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_38) + (pickupable RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_36) + (pickupable Box_bar__minus_04_dot_42_bar__plus_00_dot_52_bar__plus_01_dot_41) + (isReceptacleObject Box_bar__minus_00_dot_25_bar__plus_00_dot_86_bar__plus_02_dot_53) + (isReceptacleObject Box_bar__minus_04_dot_42_bar__plus_00_dot_52_bar__plus_01_dot_41) + (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + + (atLocation agent1 loc_bar__minus_5_bar_7_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_04_dot_70_bar__plus_00_dot_51_bar__plus_03_dot_48 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_26 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 Laptop_bar__minus_01_dot_88_bar__plus_00_dot_42_bar__plus_04_dot_49 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_49 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle RemoteControl_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Watch_bar__minus_02_dot_20_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_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 RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_36 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_30) + (inReceptacle KeyChain_bar__minus_04_dot_47_bar__plus_00_dot_43_bar__plus_03_dot_28 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + (inReceptacle CreditCard_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_64 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle Box_bar__minus_04_dot_42_bar__plus_00_dot_52_bar__plus_01_dot_41 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle Pillow_bar__minus_04_dot_50_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 Newspaper_bar__minus_00_dot_78_bar__plus_00_dot_38_bar__plus_00_dot_64 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_40_bar__plus_00_dot_76_bar__plus_02_dot_83 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_03_dot_13 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle CreditCard_bar__minus_00_dot_55_bar__plus_00_dot_77_bar__plus_02_dot_38 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Box_bar__minus_00_dot_25_bar__plus_00_dot_86_bar__plus_02_dot_53 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle CreditCard_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) + + + (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_70_bar__plus_00_dot_51_bar__plus_03_dot_48 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_57_bar__plus_00_dot_51_bar__plus_03_dot_26 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_37_bar__plus_00_dot_48_bar__plus_04_dot_49 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_00_dot_47_bar__plus_00_dot_18_bar__plus_02_dot_36 loc_bar__minus_6_bar_7_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_88_bar__plus_00_dot_42_bar__plus_04_dot_49 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_04_dot_27_bar__plus_00_dot_42_bar__plus_02_dot_64 loc_bar__minus_13_bar_8_bar_3_bar_45) + (objectAtLocation Box_bar__minus_00_dot_25_bar__plus_00_dot_86_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_12_bar__plus_00_dot_20_bar__plus_02_dot_87 loc_bar__minus_4_bar_11_bar_3_bar_60) + (objectAtLocation CreditCard_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 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_04_dot_42_bar__plus_00_dot_52_bar__plus_01_dot_41 loc_bar__minus_13_bar_8_bar_3_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_55_bar__plus_00_dot_77_bar__plus_02_dot_38 loc_bar__minus_5_bar_11_bar_1_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_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_40_bar__plus_00_dot_76_bar__plus_02_dot_83 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_50_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_47_bar__plus_00_dot_43_bar__plus_03_dot_28 loc_bar__minus_15_bar_17_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_02_dot_20_bar__plus_00_dot_20_bar__plus_02_dot_99 loc_bar__minus_4_bar_11_bar_3_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_78_bar__plus_00_dot_38_bar__plus_00_dot_64 loc_bar__minus_4_bar_7_bar_2_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_97_bar__plus_00_dot_20_bar__plus_02_dot_76 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 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-225/trial_T20190909_110049_018526/traj_data.json 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towards the couch and look down", + "pick up the credit card off of the couch", + "turn left then walk straight towards the window and turn right towards the lamp", + "turn the lamp light on " + ], + "task_desc": "pick up a credit card and view it in the lamp light", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3DPNQGW4LO69HRIQ53YN5HHV2MI46W", + "high_descs": [ + "Turn left and cross the room to the right sight of the couch, the side with the pillow", + "Pick up the credit card that is sitting on the couch in front of the pillow", + "Turn to the left and cross the room then make a right and face the tall lamp", + "Turn on the lamp that is sitting to the left of the couch" + ], + "task_desc": "Look at a credit card under a tall lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3Z4GS9HPNY1P4EEEQB1ME711OY677U", + "high_descs": [ + "Make a left to walk to the couch on the opposite wall.", + "Pick up a credit card from the couch.", + "Turn left to walk to the tall lamp.", + "Turn on the tall lamp." + ], + "task_desc": "Look at a credit card by the light of a lit 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-CreditCard-None-FloorLamp-225/trial_T20190909_110126_654783/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-225/trial_T20190909_110126_654783/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8c018a78f1d37b189760ef160c08cb922a992f2f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-225/trial_T20190909_110126_654783/initial_state.pddl @@ -0,0 +1,535 @@ + +(define (problem plan_trial_T20190909_110126_654783) +(: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_04_dot_66_bar__plus_00_dot_52_bar__plus_02_dot_64 - object + Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 - object + CreditCard_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 - object + CreditCard_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_26 - 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_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 - object + KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_41 - 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_33_bar__plus_00_dot_77_bar__plus_03_dot_13 - object + Newspaper_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 - object + Painting_bar__minus_02_dot_51_bar__plus_01_dot_82_bar__plus_00_dot_11 - object + Pillow_bar__minus_01_dot_38_bar__plus_00_dot_48_bar__plus_04_dot_52 - object + Pillow_bar__minus_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_49 - object + RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_83 - object + RemoteControl_bar__minus_02_dot_62_bar__plus_00_dot_42_bar__plus_04_dot_33 - object + Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_41 - 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_25_bar__plus_00_dot_77_bar__plus_02_dot_68 - 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_04_dot_52_bar__plus_00_dot_43_bar__plus_03_dot_28 - 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_15_bar_8_bar_1_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 Pillow_bar__minus_01_dot_38_bar__plus_00_dot_48_bar__plus_04_dot_52 PillowType) + (objectType Watch_bar__minus_04_dot_52_bar__plus_00_dot_43_bar__plus_03_dot_28 WatchType) + (objectType CreditCard_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98 CreditCardType) + (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 Pillow_bar__minus_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_49 PillowType) + (objectType DeskLamp_bar__minus_04_dot_66_bar__plus_00_dot_51_bar__plus_03_dot_32 DeskLampType) + (objectType TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68 TissueBoxType) + (objectType KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71 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 Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15 StatueType) + (objectType RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_83 RemoteControlType) + (objectType Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14 VaseType) + (objectType RemoteControl_bar__minus_02_dot_62_bar__plus_00_dot_42_bar__plus_04_dot_33 RemoteControlType) + (objectType HousePlant_bar__minus_03_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_12 HousePlantType) + (objectType Newspaper_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 NewspaperType) + (objectType Chair_bar__minus_04_dot_56_bar_00_dot_00_bar__plus_03_dot_87 ChairType) + (objectType CreditCard_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_26 CreditCardType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_39_bar__plus_00_dot_03 WindowType) + (objectType Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_41 StatueType) + (objectType Newspaper_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_03_dot_13 NewspaperType) + (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38 LaptopType) + (objectType KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_41 KeyChainType) + (objectType Box_bar__minus_04_dot_66_bar__plus_00_dot_52_bar__plus_02_dot_64 BoxType) + (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 Pillow_bar__minus_01_dot_38_bar__plus_00_dot_48_bar__plus_04_dot_52) + (pickupable Watch_bar__minus_04_dot_52_bar__plus_00_dot_43_bar__plus_03_dot_28) + (pickupable CreditCard_bar__minus_00_dot_18_bar__plus_00_dot_77_bar__plus_02_dot_98) + (pickupable TissueBox_bar__minus_01_dot_89_bar__plus_00_dot_20_bar__plus_02_dot_99) + (pickupable Pillow_bar__minus_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_49) + (pickupable TissueBox_bar__minus_00_dot_25_bar__plus_00_dot_77_bar__plus_02_dot_68) + (pickupable KeyChain_bar__minus_00_dot_59_bar__plus_00_dot_38_bar__plus_00_dot_71) + (pickupable Statue_bar__minus_01_dot_87_bar__plus_01_dot_52_bar__plus_00_dot_15) + (pickupable RemoteControl_bar__minus_00_dot_25_bar__plus_00_dot_76_bar__plus_02_dot_83) + (pickupable Vase_bar__minus_02_dot_88_bar__plus_01_dot_52_bar__plus_00_dot_14) + (pickupable RemoteControl_bar__minus_02_dot_62_bar__plus_00_dot_42_bar__plus_04_dot_33) + (pickupable Newspaper_bar__minus_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64) + (pickupable CreditCard_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_26) + (pickupable Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_41) + (pickupable Newspaper_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_03_dot_13) + (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_76_bar__plus_02_dot_38) + (pickupable KeyChain_bar__minus_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_41) + (pickupable Box_bar__minus_04_dot_66_bar__plus_00_dot_52_bar__plus_02_dot_64) + (isReceptacleObject Box_bar__minus_04_dot_66_bar__plus_00_dot_52_bar__plus_02_dot_64) + (openable Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + + (atLocation agent1 loc_bar__minus_15_bar_8_bar_1_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 Pillow_bar__minus_01_dot_38_bar__plus_00_dot_48_bar__plus_04_dot_52 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle RemoteControl_bar__minus_02_dot_62_bar__plus_00_dot_42_bar__plus_04_dot_33 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle Pillow_bar__minus_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_49 Sofa_bar__minus_02_dot_13_bar_00_dot_00_bar__plus_04_dot_56) + (inReceptacle CreditCard_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_26 Shelf_bar__minus_00_dot_46_bar__plus_00_dot_48_bar__plus_02_dot_30) + (inReceptacle Statue_bar__minus_01_dot_82_bar__plus_00_dot_21_bar__plus_02_dot_41 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_02_dot_62) + (inReceptacle Newspaper_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 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 Watch_bar__minus_04_dot_52_bar__plus_00_dot_43_bar__plus_03_dot_28 Drawer_bar__minus_04_dot_43_bar__plus_00_dot_47_bar__plus_03_dot_34) + (inReceptacle Box_bar__minus_04_dot_66_bar__plus_00_dot_52_bar__plus_02_dot_64 Sofa_bar__minus_04_dot_57_bar_00_dot_00_bar__plus_01_dot_90) + (inReceptacle KeyChain_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 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_25_bar__plus_00_dot_77_bar__plus_02_dot_68 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle CreditCard_bar__minus_00_dot_18_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_25_bar__plus_00_dot_76_bar__plus_02_dot_83 TVStand_bar__minus_00_dot_34_bar__plus_00_dot_01_bar__plus_02_dot_68) + (inReceptacle Newspaper_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_03_dot_13 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 Newspaper_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation KeyChain_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 Pillow_bar__minus_01_dot_38_bar__plus_00_dot_48_bar__plus_04_dot_52 loc_bar__minus_10_bar_13_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_02_dot_62_bar__plus_00_dot_42_bar__plus_04_dot_33 loc_bar__minus_10_bar_13_bar_0_bar_45) + (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 CreditCard_bar__minus_00_dot_53_bar__plus_00_dot_49_bar__plus_02_dot_26 loc_bar__minus_5_bar_11_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_04_dot_66_bar__plus_00_dot_52_bar__plus_02_dot_64 loc_bar__minus_13_bar_8_bar_3_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_18_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_5_bar_11_bar_1_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_25_bar__plus_00_dot_77_bar__plus_02_dot_68 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_25_bar__plus_00_dot_76_bar__plus_02_dot_83 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_01_dot_88_bar__plus_00_dot_48_bar__plus_04_dot_49 loc_bar__minus_10_bar_13_bar_0_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_02_dot_37_bar__plus_00_dot_40_bar__plus_04_dot_41 loc_bar__minus_9_bar_15_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_04_dot_52_bar__plus_00_dot_43_bar__plus_03_dot_28 loc_bar__minus_15_bar_17_bar_2_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_01_dot_82_bar__plus_00_dot_20_bar__plus_02_dot_64 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_21_bar__plus_02_dot_41 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 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-225/trial_T20190909_110126_654783/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-225/trial_T20190909_110126_654783/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0418edbb57babf8ff48db22c4a1c48efb35d7e45 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-CreditCard-None-FloorLamp-225/trial_T20190909_110126_654783/traj_data.json @@ -0,0 +1,3479 @@ +{ + "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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2.41380882 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_5d099de8", + "position": { + "x": -1.869989, + "y": 1.518822, + "z": 0.1452563 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 2779293189, + "scene_num": 225 + }, + "task_id": "trial_T20190909_110126_654783", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_369J354OFG1PT7BA040OE6EYSRPG6T", + "high_descs": [ + "Go forward and face the computer on the white cabinet with shelves.", + "Pick the credit card up from the white shelf below the computer.", + "Turn to the right and then right again and cross the room to face the lamp in the corner.", + "Turn the lamp on." + ], + "task_desc": "Pick up a credit card and turn a lamp on.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3WT783CTPE8II7C0U9LDZVFB80FBC6", + "high_descs": [ + "Move around the coffee table and move to the entertainment center to the left of the gray door.", + "Pick up the blue credit card from the shelf underneath the laptop.", + "Turn right and move to the floor lamp in the corner of the room between the window and the couch.", + "Turn on the floor lamp." + ], + "task_desc": "Examine a credit card using the light from a floor lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_354P56DE9NUBNCY6EEZX9YXXBD87S8", + "high_descs": [ + "walk to face white shelves", + "remove credit card from middle shelf", + "walk to face floor lamp", + "turn on floor lamp" + ], + "task_desc": "turn on floor lamp while holding credit card", + "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-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..04d5238e0d3ccd908a052d5bca9ff0c0720f4fe4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/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 keychain 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_094219_644881)\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_54_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object\n Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08 - object\n Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91 - object\n CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88 - object\n CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83 - object\n CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79 - object\n CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22 - object\n CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 - object\n CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99 - object\n Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object\n CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25 - object\n CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99 - object\n CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24 - object\n DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object\n HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object\n KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61 - object\n KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73 - object\n Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 - object\n Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 - object\n LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object\n Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object\n Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90 - object\n Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 - object\n Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49 - object\n Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18 - object\n Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90 - object\n Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 - object\n Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02 - object\n RemoteControl_bar__minus_00_dot_93_bar__plus_00_dot_19_bar__plus_03_dot_49 - object\n RemoteControl_bar__minus_03_dot_40_bar__plus_00_dot_19_bar__plus_03_dot_12 - object\n TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object\n Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object\n Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object\n ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle\n ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle\n Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle\n LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle\n Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle\n SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle\n loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_3_bar_10_bar_0_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar_11_bar_0_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_3_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location\n loc_bar_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar_6_bar_13_bar_2_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar_0 - location\n loc_bar__minus_9_bar_12_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_0 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_0_bar_15 - location\n loc_bar__minus_1_bar_14_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location\n loc_bar_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_4_bar_12_bar_0_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_60 - location\n loc_bar_5_bar__minus_7_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType)\n (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType)\n (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType)\n (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType)\n (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType)\n (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (objectType CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99 CreditCardType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType)\n (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61 KeyChainType)\n (objectType Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 PillowType)\n (objectType Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 PencilType)\n (objectType CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24 CreditCardType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79 CDType)\n (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType)\n (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType)\n (objectType Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 LaptopType)\n (objectType CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83 CDType)\n (objectType Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90 PenType)\n (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25 CreditCardType)\n (objectType Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49 PenType)\n (objectType KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73 KeyChainType)\n (objectType CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 CellPhoneType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType)\n (objectType AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType)\n (objectType RemoteControl_bar__minus_00_dot_93_bar__plus_00_dot_19_bar__plus_03_dot_49 RemoteControlType)\n (objectType CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88 CDType)\n (objectType CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99 CellPhoneType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType)\n (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType)\n (objectType CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22 CellPhoneType)\n (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02 PillowType)\n (objectType RemoteControl_bar__minus_03_dot_40_bar__plus_00_dot_19_bar__plus_03_dot_12 RemoteControlType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90 MugType)\n (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType)\n (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType)\n (objectType Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 LaptopType)\n (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType)\n (objectType Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91 BookType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType)\n (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08 BookType)\n (objectType Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18 PenType)\n (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\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 RemoteControlType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\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 CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\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 RemoteControlType)\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 RemoteControlType)\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 RemoteControlType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\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 LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (pickupable CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99)\n (pickupable KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61)\n (pickupable Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22)\n (pickupable Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34)\n (pickupable CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24)\n (pickupable CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79)\n (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56)\n (pickupable Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97)\n (pickupable CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83)\n (pickupable Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90)\n (pickupable AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25)\n (pickupable Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49)\n (pickupable KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73)\n (pickupable CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05)\n (pickupable AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable RemoteControl_bar__minus_00_dot_93_bar__plus_00_dot_19_bar__plus_03_dot_49)\n (pickupable CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88)\n (pickupable CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99)\n (pickupable CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22)\n (pickupable Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (pickupable RemoteControl_bar__minus_03_dot_40_bar__plus_00_dot_19_bar__plus_03_dot_12)\n (pickupable Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90)\n (pickupable Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74)\n (pickupable Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91)\n (pickupable Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08)\n (pickupable Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18)\n (isReceptacleObject Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (openable Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (openable Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (openable Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64)\n \n (atLocation agent1 loc_bar_5_bar__minus_7_bar_3_bar_30)\n \n (cleanable Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90)\n \n (heatable Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90)\n (coolable Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90)\n \n \n (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42)\n \n \n \n \n (inReceptacle Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79 GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80)\n (inReceptacle CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_93_bar__plus_00_dot_19_bar__plus_03_dot_49 loc_bar__minus_4_bar_12_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_40_bar__plus_00_dot_19_bar__plus_03_dot_12 loc_bar__minus_13_bar_11_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0)\n (objectAtLocation CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90 loc_bar__minus_11_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 KeyChainType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "use desklamp 1", "take keychain 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-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f19ed7f2f361cb9c51c18d3bcbfd8523df3f1fbb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/initial_state.pddl @@ -0,0 +1,599 @@ + +(define (problem plan_trial_T20190909_094219_644881) +(: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_54_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object + Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08 - object + Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91 - object + CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88 - object + CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83 - object + CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79 - object + CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22 - object + CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 - object + CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99 - object + Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object + CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25 - object + CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99 - object + CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24 - object + DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object + HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object + KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61 - object + KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73 - object + Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 - object + Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 - object + LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object + Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object + Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90 - object + Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 - object + Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49 - object + Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18 - object + Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90 - object + Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 - object + Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02 - object + RemoteControl_bar__minus_00_dot_93_bar__plus_00_dot_19_bar__plus_03_dot_49 - object + RemoteControl_bar__minus_03_dot_40_bar__plus_00_dot_19_bar__plus_03_dot_12 - object + TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object + Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object + Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object + ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle + ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle + ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle + Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle + LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle + Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle + SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle + loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_3_bar_10_bar_0_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar_11_bar_0_bar_60 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar_3_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location + loc_bar_7_bar_12_bar_0_bar_60 - location + loc_bar__minus_8_bar_10_bar_0_bar_60 - location + loc_bar_4_bar__minus_8_bar_1_bar_15 - location + loc_bar_6_bar_13_bar_2_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar_0 - location + loc_bar__minus_9_bar_12_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_0 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_6_bar_13_bar_0_bar_15 - location + loc_bar__minus_1_bar_14_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location + loc_bar_7_bar_12_bar_0_bar_45 - location + loc_bar__minus_4_bar_12_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location + loc_bar_7_bar__minus_8_bar_2_bar_60 - location + loc_bar_7_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_11_bar__minus_8_bar_2_bar_60 - location + loc_bar_5_bar__minus_7_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType) + (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType) + (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType) + (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType) + (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType) + (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (objectType CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99 CreditCardType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType) + (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61 KeyChainType) + (objectType Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 PillowType) + (objectType Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 PencilType) + (objectType CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24 CreditCardType) + (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79 CDType) + (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType) + (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType) + (objectType Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 LaptopType) + (objectType CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83 CDType) + (objectType Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90 PenType) + (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType) + (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType) + (objectType CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25 CreditCardType) + (objectType Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49 PenType) + (objectType KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73 KeyChainType) + (objectType CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 CellPhoneType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType) + (objectType AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType) + (objectType RemoteControl_bar__minus_00_dot_93_bar__plus_00_dot_19_bar__plus_03_dot_49 RemoteControlType) + (objectType CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88 CDType) + (objectType CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99 CellPhoneType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType) + (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType) + (objectType CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22 CellPhoneType) + (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02 PillowType) + (objectType RemoteControl_bar__minus_03_dot_40_bar__plus_00_dot_19_bar__plus_03_dot_12 RemoteControlType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType) + (objectType Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90 MugType) + (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType) + (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType) + (objectType Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 LaptopType) + (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType) + (objectType Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91 BookType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType) + (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (objectType Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08 BookType) + (objectType Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18 PenType) + (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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 CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType RemoteControlType) + (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 RemoteControlType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (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 RemoteControlType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType AlarmClockType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (pickupable CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99) + (pickupable KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61) + (pickupable Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22) + (pickupable Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34) + (pickupable CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24) + (pickupable CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79) + (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56) + (pickupable Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97) + (pickupable CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83) + (pickupable Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90) + (pickupable AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25) + (pickupable Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49) + (pickupable KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73) + (pickupable CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05) + (pickupable AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable RemoteControl_bar__minus_00_dot_93_bar__plus_00_dot_19_bar__plus_03_dot_49) + (pickupable CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88) + (pickupable CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99) + (pickupable CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22) + (pickupable Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02) + (pickupable RemoteControl_bar__minus_03_dot_40_bar__plus_00_dot_19_bar__plus_03_dot_12) + (pickupable Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90) + (pickupable Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74) + (pickupable Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91) + (pickupable Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08) + (pickupable Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18) + (isReceptacleObject Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85) + (openable Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (openable Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (openable Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64) + + (atLocation agent1 loc_bar_5_bar__minus_7_bar_3_bar_30) + + (cleanable Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90) + + (heatable Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90) + (coolable Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90) + + + (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42) + + + + + (inReceptacle Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79 GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80) + (inReceptacle CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60) + (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15) + (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15) + (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_68_bar__plus_00_dot_56_bar__plus_02_dot_49 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation CD_bar__minus_03_dot_40_bar__plus_00_dot_37_bar__minus_02_dot_79 loc_bar__minus_13_bar__minus_9_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_93_bar__plus_00_dot_19_bar__plus_03_dot_49 loc_bar__minus_4_bar_12_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_90_bar__plus_01_dot_10_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation KeyChain_bar__plus_01_dot_76_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation CellPhone_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Book_bar__plus_00_dot_82_bar__plus_00_dot_08_bar__minus_03_dot_08 loc_bar_4_bar__minus_8_bar_1_bar_15) + (objectAtLocation CreditCard_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_25 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation CellPhone_bar__plus_01_dot_67_bar__plus_00_dot_10_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60) + (objectAtLocation CD_bar__minus_00_dot_28_bar__plus_00_dot_08_bar__minus_02_dot_88 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (objectAtLocation Book_bar__plus_01_dot_32_bar__plus_00_dot_08_bar__minus_02_dot_91 loc_bar_4_bar__minus_8_bar_1_bar_15) + (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation CellPhone_bar__plus_01_dot_24_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_99 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_19_bar__plus_00_dot_08_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_54_bar__plus_00_dot_56_bar__plus_02_dot_34 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_40_bar__plus_00_dot_19_bar__plus_03_dot_12 loc_bar__minus_13_bar_11_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15) + (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0) + (objectAtLocation CD_bar__minus_00_dot_45_bar__plus_00_dot_58_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (objectAtLocation Pen_bar__plus_01_dot_76_bar__plus_00_dot_56_bar__plus_02_dot_18 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0) + (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_87_bar__plus_00_dot_08_bar__minus_02_dot_90 loc_bar__minus_11_bar__minus_8_bar_2_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 KeyChainType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9c22bef67663e29977eb3624daaed8fb971db4fb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094219_644881/traj_data.json @@ -0,0 +1,2701 @@ +{ + "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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and walk to the wall, then turn right to face the round table.", + "Turn on the lamp that is on the table.", + "Pick up the keys from the table." + ], + "task_desc": "Look at a set of keys under the light of a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2TBXASXZIRNNW_3VAR3R6G1SS0PYBWH2AU3TJRP7OO8Q", + "high_descs": [ + "Walk over to the lamp.", + "Turn the lamp on.", + "Grab the keys." + ], + "task_desc": "Turn the lamp on and grab the keys.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5653dff59453c855b270a878c227a29eb7116ee4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/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 keychain 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_094258_737509)\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_54_bar__plus_00_dot_55_bar__plus_02_dot_30 - object\n AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object\n Book_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_01_dot_46 - object\n Book_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_88 - object\n CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_05 - object\n CD_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_93 - object\n CD_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_06 - object\n CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05 - object\n CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_59_bar__minus_02_dot_83 - object\n CellPhone_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 - object\n Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object\n CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_08_bar__minus_02_dot_73 - object\n DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object\n HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object\n KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_18 - object\n KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_34 - object\n KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_90 - object\n KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_02 - object\n LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object\n Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object\n Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 - object\n Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_03_dot_08 - object\n Pencil_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Pencil_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_83 - object\n Pencil_bar__minus_03_dot_29_bar__plus_00_dot_38_bar__minus_02_dot_78 - object\n Pen_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_44 - object\n Pen_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 - object\n Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26 - object\n Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_01_dot_22 - object\n RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n RemoteControl_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 - object\n TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object\n Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object\n Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object\n ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle\n ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle\n Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle\n LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle\n Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle\n SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle\n loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location\n loc_bar_2_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_3_bar_10_bar_0_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_3_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location\n loc_bar_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_45 - location\n loc_bar_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar_6_bar_13_bar_2_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar_0 - location\n loc_bar__minus_9_bar_12_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_0 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_0_bar_15 - location\n loc_bar__minus_1_bar_14_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location\n loc_bar_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType)\n (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType)\n (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType)\n (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType)\n (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType)\n (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (objectType KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_34 KeyChainType)\n (objectType RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 RemoteControlType)\n (objectType KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_90 KeyChainType)\n (objectType KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 KeyChainType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType)\n (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Pen_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_44 PenType)\n (objectType Pencil_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 PencilType)\n (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType)\n (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType)\n (objectType Book_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_01_dot_46 BookType)\n (objectType CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_59_bar__minus_02_dot_83 CellPhoneType)\n (objectType CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_08_bar__minus_02_dot_73 CreditCardType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType AlarmClock_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_30 AlarmClockType)\n (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_01_dot_22 PillowType)\n (objectType CellPhone_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 CellPhoneType)\n (objectType Pen_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 PenType)\n (objectType KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_18 KeyChainType)\n (objectType Pencil_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_83 PencilType)\n (objectType Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_03_dot_08 MugType)\n (objectType Pencil_bar__minus_03_dot_29_bar__plus_00_dot_38_bar__minus_02_dot_78 PencilType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType)\n (objectType CD_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_93 CDType)\n (objectType RemoteControl_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 RemoteControlType)\n (objectType CD_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_06 CDType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType)\n (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType)\n (objectType CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_05 CDType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 MugType)\n (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType)\n (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType)\n (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType)\n (objectType Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_02 LaptopType)\n (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_16 AlarmClockType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType)\n (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26 PillowType)\n (objectType CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05 CellPhoneType)\n (objectType Book_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_88 BookType)\n (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\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 RemoteControlType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\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 CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType 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(canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (pickupable KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_34)\n (pickupable RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16)\n (pickupable KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_90)\n (pickupable KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (pickupable 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(pickupable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_03_dot_08)\n (pickupable Pencil_bar__minus_03_dot_29_bar__plus_00_dot_38_bar__minus_02_dot_78)\n (pickupable CD_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_93)\n (pickupable RemoteControl_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90)\n (pickupable CD_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_06)\n (pickupable CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_05)\n (pickupable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83)\n (pickupable Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_02)\n (pickupable AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_16)\n (pickupable Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26)\n (pickupable CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05)\n (pickupable Book_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_88)\n 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Pencil_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_83 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle Pen_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_05 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle Book_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_88 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_08_bar__minus_02_dot_73 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle CD_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_93 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_16 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pencil_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle RemoteControl_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pencil_bar__minus_03_dot_29_bar__plus_00_dot_38_bar__minus_02_dot_78 GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80)\n (inReceptacle CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05 Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 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Pencil_bar__minus_03_dot_29_bar__plus_00_dot_38_bar__minus_02_dot_78 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_7_bar__minus_9_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_59_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_30 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_88 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_18 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_34 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_83 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_05 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Book_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_01_dot_46 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_01_dot_22 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_08_bar__minus_02_dot_73 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_5_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Pencil_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0)\n (objectAtLocation CD_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_06 loc_bar__minus_11_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_44 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 KeyChainType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "use desklamp 1", "take keychain 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-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3ec3e715e6cc75f6ad8feb4fe60690bd011cf493 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/initial_state.pddl @@ -0,0 +1,607 @@ + +(define (problem plan_trial_T20190909_094258_737509) +(: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_54_bar__plus_00_dot_55_bar__plus_02_dot_30 - object + AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_16 - object + Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object + Book_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_01_dot_46 - object + Book_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_88 - object + CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_05 - object + CD_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_93 - object + CD_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_06 - object + CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05 - object + CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_59_bar__minus_02_dot_83 - object + CellPhone_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 - object + Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object + CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_08_bar__minus_02_dot_73 - object + DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object + HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object + KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_18 - object + KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_34 - object + KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_90 - object + KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 - object + Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_02 - object + LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object + Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object + Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 - object + Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_03_dot_08 - object + Pencil_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Pencil_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_83 - object + Pencil_bar__minus_03_dot_29_bar__plus_00_dot_38_bar__minus_02_dot_78 - object + Pen_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_44 - object + Pen_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 - object + Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26 - object + Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_01_dot_22 - object + RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 - object + RemoteControl_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 - object + TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object + Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object + Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object + ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle + ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle + ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle + Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle + LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle + Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle + SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle + loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location + loc_bar_2_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_3_bar_10_bar_0_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar_3_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location + loc_bar_7_bar_12_bar_0_bar_60 - location + loc_bar__minus_8_bar_10_bar_0_bar_60 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_45 - location + loc_bar_4_bar__minus_8_bar_1_bar_15 - location + loc_bar_6_bar_13_bar_2_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar_0 - location + loc_bar__minus_9_bar_12_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_0 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_6_bar_13_bar_0_bar_15 - location + loc_bar__minus_1_bar_14_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location + loc_bar_7_bar_12_bar_0_bar_45 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location + loc_bar_7_bar__minus_8_bar_2_bar_60 - location + loc_bar_7_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_11_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType) + (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType) + (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType) + (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType) + (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType) + (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (objectType KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_34 KeyChainType) + (objectType RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 RemoteControlType) + (objectType KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_90 KeyChainType) + (objectType KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 KeyChainType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType) + (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Pen_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_44 PenType) + (objectType Pencil_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07 PencilType) + (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType) + (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType) + (objectType Book_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_01_dot_46 BookType) + (objectType CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_59_bar__minus_02_dot_83 CellPhoneType) + (objectType CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_08_bar__minus_02_dot_73 CreditCardType) + (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType) + (objectType AlarmClock_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_30 AlarmClockType) + (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_01_dot_22 PillowType) + (objectType CellPhone_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 CellPhoneType) + (objectType Pen_bar__minus_01_dot_16_bar__plus_00_dot_59_bar__minus_02_dot_88 PenType) + (objectType KeyChain_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_18 KeyChainType) + (objectType Pencil_bar__minus_01_dot_34_bar__plus_00_dot_59_bar__minus_02_dot_83 PencilType) + (objectType Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_03_dot_08 MugType) + (objectType Pencil_bar__minus_03_dot_29_bar__plus_00_dot_38_bar__minus_02_dot_78 PencilType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType) + (objectType CD_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_93 CDType) + (objectType RemoteControl_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 RemoteControlType) + (objectType CD_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_06 CDType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType) + (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType) + (objectType CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_05 CDType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType) + (objectType Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 MugType) + (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType) + (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType) + (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType) + (objectType Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_02 LaptopType) + (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_16 AlarmClockType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType) + (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26 PillowType) + (objectType CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05 CellPhoneType) + (objectType Book_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_88 BookType) + (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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 CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType RemoteControlType) + (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 RemoteControlType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (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 RemoteControlType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType 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(canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (pickupable KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_34) + (pickupable RemoteControl_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16) + (pickupable KeyChain_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_90) + (pickupable KeyChain_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73) + (pickupable Pen_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_44) + (pickupable Pencil_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56) + (pickupable Book_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_01_dot_46) + (pickupable 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Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_26 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_01_dot_22 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle CellPhone_bar__minus_03_dot_27_bar__plus_00_dot_19_bar__plus_03_dot_20 ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38) + (inReceptacle CellPhone_bar__minus_00_dot_10_bar__plus_00_dot_59_bar__minus_02_dot_83 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle KeyChain_bar__plus_01_dot_68_bar__plus_00_dot_55_bar__plus_02_dot_34 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle 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Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_05 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle CellPhone_bar__plus_01_dot_83_bar__plus_00_dot_10_bar__minus_03_dot_05 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle Book_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_88 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle CreditCard_bar__minus_00_dot_89_bar__plus_00_dot_08_bar__minus_02_dot_73 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle CD_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_93 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + 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loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation 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Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0) + (objectAtLocation CD_bar__minus_02_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_06 loc_bar__minus_11_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_44 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0) + (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 KeyChainType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ea059d3cd1deafe7a390e3b5c4e4f1a2aa0ae83e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094258_737509/traj_data.json @@ -0,0 +1,2575 @@ +{ + "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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"task_desc": "turn a lamp on and pick up the keys on the table", + "votes": [ + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3YHH42UU5E6A1O3W96HNIX9FB5NL01", + "high_descs": [ + "Take a right around the bed to reach the nightstand.", + "Turn on the lamp.", + "Pick up the keys from the nightstand." + ], + "task_desc": "Look at some keys under the light of a lit 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-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..ff92310d02d59f579af4810f46f7c5c94310b1a9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/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 keychain 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_094310_266647)\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_29_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 - object\n AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object\n Book_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_03_dot_08 - object\n CD_bar__minus_00_dot_89_bar__plus_00_dot_58_bar__minus_02_dot_88 - object\n CD_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n CD_bar__minus_03_dot_15_bar__plus_00_dot_19_bar__plus_03_dot_47 - object\n CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_00_dot_26 - object\n CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_83 - object\n Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object\n CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_58_bar__minus_02_dot_88 - object\n CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_88 - object\n CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_24 - object\n DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object\n HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object\n KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_32 - object\n KeyChain_bar__plus_01_dot_72_bar__plus_00_dot_10_bar__minus_03_dot_21 - object\n KeyChain_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_78 - object\n Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 - object\n Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_50 - object\n LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object\n Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object\n Mug_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_61 - object\n Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_73 - object\n Pencil_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 - object\n Pen_bar__minus_00_dot_98_bar__plus_00_dot_59_bar__minus_02_dot_99 - object\n Pen_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 - object\n Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_98 - object\n Pillow_bar__plus_01_dot_79_bar__plus_00_dot_87_bar__plus_00_dot_31 - object\n RemoteControl_bar__minus_01_dot_10_bar__plus_00_dot_31_bar__plus_03_dot_66 - object\n TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object\n Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object\n Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object\n ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle\n ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle\n Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle\n LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle\n Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle\n SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle\n loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_3_bar_10_bar_0_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar_11_bar_0_bar_60 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_3_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location\n loc_bar_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar_6_bar_13_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_13_bar_2_bar_3_bar_0 - location\n loc_bar__minus_9_bar_12_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_0 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_0_bar_15 - location\n loc_bar__minus_1_bar_14_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location\n loc_bar_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_10_bar_9_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType)\n (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType)\n (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType)\n (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType)\n (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType)\n (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType)\n (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Pen_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 PenType)\n (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType)\n (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType)\n (objectType Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 LaptopType)\n (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType)\n (objectType CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_88 CreditCardType)\n (objectType AlarmClock_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_73 AlarmClockType)\n (objectType CD_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_16 CDType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType KeyChain_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_78 KeyChainType)\n (objectType 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(canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\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 LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain 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Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_73 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pen_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pencil_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_24 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_73 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle KeyChain_bar__plus_01_dot_72_bar__plus_00_dot_10_bar__minus_03_dot_21 Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation CD_bar__minus_03_dot_15_bar__plus_00_dot_19_bar__plus_03_dot_47 loc_bar__minus_13_bar_11_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_32 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_58_bar__minus_02_dot_88 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_00_dot_26 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_29_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_78 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_88 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_98_bar__plus_00_dot_59_bar__minus_02_dot_99 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_89_bar__plus_00_dot_58_bar__minus_02_dot_88 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_03_dot_08 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_79_bar__plus_00_dot_87_bar__plus_00_dot_31 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_98 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__plus_01_dot_72_bar__plus_00_dot_10_bar__minus_03_dot_21 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_10_bar__plus_00_dot_31_bar__plus_03_dot_66 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0)\n (objectAtLocation CD_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_6_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Pen_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 KeyChainType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "use desklamp 1", "take keychain 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-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..767af44bf7c1089fce11fc81fa2eb68a7164bf1d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/initial_state.pddl @@ -0,0 +1,603 @@ + +(define (problem plan_trial_T20190909_094310_266647) +(: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_29_bar__plus_01_dot_12_bar__minus_02_dot_73 - object + AlarmClock_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 - object + AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object + Book_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_03_dot_08 - object + CD_bar__minus_00_dot_89_bar__plus_00_dot_58_bar__minus_02_dot_88 - object + CD_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_16 - object + CD_bar__minus_03_dot_15_bar__plus_00_dot_19_bar__plus_03_dot_47 - object + CellPhone_bar__plus_00_dot_96_bar__plus_00_dot_84_bar__plus_00_dot_26 - object + CellPhone_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_83 - object + Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object + CreditCard_bar__minus_00_dot_63_bar__plus_00_dot_58_bar__minus_02_dot_88 - object + CreditCard_bar__minus_01_dot_07_bar__plus_00_dot_58_bar__minus_02_dot_88 - object + CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_24 - object + DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object + HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object + KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_32 - object + KeyChain_bar__plus_01_dot_72_bar__plus_00_dot_10_bar__minus_03_dot_21 - object + KeyChain_bar__minus_00_dot_54_bar__plus_00_dot_08_bar__minus_02_dot_78 - object + Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 - object + Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_50 - object + LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object + Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object + Mug_bar__plus_01_dot_66_bar__plus_00_dot_55_bar__plus_02_dot_61 - object + Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_73 - object + Pencil_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Pen_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 - object + Pen_bar__minus_00_dot_98_bar__plus_00_dot_59_bar__minus_02_dot_99 - object + Pen_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 - object + Pillow_bar__plus_00_dot_39_bar__plus_00_dot_94_bar__plus_00_dot_98 - object + Pillow_bar__plus_01_dot_79_bar__plus_00_dot_87_bar__plus_00_dot_31 - object + RemoteControl_bar__minus_01_dot_10_bar__plus_00_dot_31_bar__plus_03_dot_66 - object + TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object + Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object + Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object + ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle + ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle + ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle + Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle + LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle + Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle + SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle + loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_3_bar_10_bar_0_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar_11_bar_0_bar_60 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar_3_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location + loc_bar_7_bar_12_bar_0_bar_60 - location + loc_bar__minus_8_bar_10_bar_0_bar_60 - location + loc_bar_4_bar__minus_8_bar_1_bar_15 - location + loc_bar_6_bar_13_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_13_bar_2_bar_3_bar_0 - location + loc_bar__minus_9_bar_12_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_0 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_6_bar_13_bar_0_bar_15 - location + loc_bar__minus_1_bar_14_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location + loc_bar_7_bar_12_bar_0_bar_45 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location + loc_bar_7_bar__minus_8_bar_2_bar_60 - location + loc_bar_7_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_10_bar_9_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType) + (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType) + (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType) + (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType) + (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType) + (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType) + (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Pen_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 PenType) + (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType) + (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType) + (objectType Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 LaptopType) + (objectType 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loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 KeyChainType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a8ad4dbc109c56f03048185472aa02e750a3bc0c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-DeskLamp-309/trial_T20190909_094310_266647/traj_data.json @@ -0,0 +1,2334 @@ +{ + "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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309 + }, + "task_id": "trial_T20190909_094310_266647", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A4UAFZ5LW71K_36W0OB37HZ55HDQWMFFHW4JUCUJZHK", + "high_descs": [ + "walk across room to the wall, turn right to face lamp", + "turn the lamp on", + "pick up the keys that are on the table" + ], + "task_desc": "examine keys with the lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3EO896NRAZM5M7CN4NTKMTYS4ROTJS", + "high_descs": [ + "Walk forward to the small side table that has a lamp on it.", + "Turn on the lamp.", + "Pick up the key chain from the table." + ], + "task_desc": "Examine a key chain by the light of a table lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_388U7OUMFASL4MY9EQEJ49IEHW50RX", + "high_descs": [ + "Look down, turn left, walk to the sofa seat, turn right when you reach the sofa seat, and walk straight to the lamp on the small stand.", + "Turn on the lamp on the small stand.", + "Grab the keys on the small stand." + ], + "task_desc": "Turn on the lamp on the small stand and grab the keys on the small stand.", + "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-Pillow-None-DeskLamp-309/trial_T20190908_113820_480741/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113820_480741/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..da42c2a79dc3567d573b6e464799ec33227db6f8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113820_480741/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 pillow 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_113820_480741)\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_56_bar__plus_02_dot_61 - object\n AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object\n Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 - object\n Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93 - object\n Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68 - object\n CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99 - object\n CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95 - object\n CD_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 - object\n CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 - object\n Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object\n CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93 - object\n DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object\n HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object\n KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39 - object\n Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02 - object\n LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object\n Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object\n Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73 - object\n Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29 - object\n Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24 - object\n Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 - object\n Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50 - object\n Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74 - object\n RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 - object\n TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object\n Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object\n Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object\n ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle\n ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle\n Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle\n LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle\n Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle\n SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle\n loc_bar_1_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_3_bar_10_bar_0_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_3_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location\n loc_bar_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar_6_bar_13_bar_2_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar_0 - location\n loc_bar__minus_9_bar_12_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_0 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_0_bar_15 - location\n loc_bar__minus_1_bar_14_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location\n loc_bar_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location\n loc_bar_7_bar__minus_7_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType)\n (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType)\n (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType)\n (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType)\n (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType)\n (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (objectType AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_61 AlarmClockType)\n (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType)\n (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29 PencilType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType)\n (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType)\n (objectType CD_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 CDType)\n (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType)\n (objectType Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73 MugType)\n (objectType CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95 CDType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68 BookType)\n (objectType CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 CellPhoneType)\n (objectType KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39 KeyChainType)\n (objectType Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02 LaptopType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType)\n (objectType Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50 PillowType)\n (objectType CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93 CreditCardType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType)\n (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType)\n (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74 PillowType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType)\n (objectType Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24 PencilType)\n (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType)\n (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType)\n (objectType Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93 BookType)\n (objectType Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 PenType)\n (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 BookType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType)\n (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99 CDType)\n (objectType RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 RemoteControlType)\n (objectType AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 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 RemoteControlType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\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 CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\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 RemoteControlType)\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 RemoteControlType)\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 RemoteControlType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\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 LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (pickupable AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_61)\n (pickupable Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29)\n (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56)\n (pickupable CD_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16)\n (pickupable AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73)\n (pickupable CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95)\n (pickupable Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68)\n (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99)\n (pickupable KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39)\n (pickupable Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02)\n (pickupable Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50)\n (pickupable CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93)\n (pickupable Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74)\n (pickupable Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24)\n (pickupable Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93)\n (pickupable Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90)\n (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46)\n (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99)\n (pickupable RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83)\n (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16)\n (isReceptacleObject Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (openable Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (openable Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (openable Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64)\n \n (atLocation agent1 loc_bar_7_bar__minus_7_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73)\n \n (heatable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73)\n (coolable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73)\n \n \n (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42)\n \n \n \n \n (inReceptacle Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68 ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63)\n (inReceptacle RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_61 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_61 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (objectAtLocation AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0)\n (objectAtLocation CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99 loc_bar_1_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 2 from bed 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-309/trial_T20190908_113820_480741/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113820_480741/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6b79b45283fb63e11f123d6e89ea896260299f40 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113820_480741/initial_state.pddl @@ -0,0 +1,567 @@ + +(define (problem plan_trial_T20190908_113820_480741) +(: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_56_bar__plus_02_dot_61 - object + AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 - object + AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object + Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 - object + Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93 - object + Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68 - object + CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99 - object + CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95 - object + CD_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 - object + CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 - object + Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object + CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93 - object + DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object + HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object + KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39 - object + Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02 - object + LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object + Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object + Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73 - object + Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29 - object + Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24 - object + Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 - object + Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50 - object + Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74 - object + RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 - object + TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object + Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object + Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object + ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle + ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle + ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle + Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle + LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle + Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle + SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle + loc_bar_1_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_3_bar_10_bar_0_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar_3_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location + loc_bar_7_bar_12_bar_0_bar_60 - location + loc_bar__minus_8_bar_10_bar_0_bar_60 - location + loc_bar_4_bar__minus_8_bar_1_bar_15 - location + loc_bar_6_bar_13_bar_2_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar_0 - location + loc_bar__minus_9_bar_12_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_0 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_6_bar_13_bar_0_bar_15 - location + loc_bar__minus_1_bar_14_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location + loc_bar_7_bar_12_bar_0_bar_45 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location + loc_bar_7_bar__minus_8_bar_2_bar_60 - location + loc_bar_7_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location + loc_bar_7_bar__minus_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType) + (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType) + (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType) + (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType) + (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType) + (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (objectType AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_61 AlarmClockType) + (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType) + (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29 PencilType) + (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType) + (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType) + (objectType CD_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 CDType) + (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType) + (objectType Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73 MugType) + (objectType CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95 CDType) + (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType) + (objectType Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68 BookType) + (objectType CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 CellPhoneType) + (objectType KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39 KeyChainType) + (objectType Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02 LaptopType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType) + (objectType Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50 PillowType) + (objectType CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93 CreditCardType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType) + (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType) + (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74 PillowType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType) + (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType) + (objectType Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24 PencilType) + (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType) + (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType) + (objectType Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93 BookType) + (objectType Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 PenType) + (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 BookType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType) + (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99 CDType) + (objectType RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 RemoteControlType) + (objectType AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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 CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType RemoteControlType) + (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 RemoteControlType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (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 RemoteControlType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType AlarmClockType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (pickupable AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_61) + (pickupable Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29) + (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56) + (pickupable CD_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16) + (pickupable AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73) + (pickupable CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95) + (pickupable Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68) + (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99) + (pickupable KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39) + (pickupable Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02) + (pickupable Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50) + (pickupable CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93) + (pickupable Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74) + (pickupable Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24) + (pickupable Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93) + (pickupable Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90) + (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46) + (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99) + (pickupable RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83) + (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16) + (isReceptacleObject Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85) + (openable Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (openable Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (openable Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64) + + (atLocation agent1 loc_bar_7_bar__minus_7_bar_2_bar_30) + + (cleanable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73) + + (heatable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73) + (coolable Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73) + + + (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42) + + + + + (inReceptacle Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68 ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63) + (inReceptacle RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_61 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60) + (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15) + (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15) + (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation CD_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Pencil_bar__plus_01_dot_75_bar__plus_00_dot_56_bar__plus_02_dot_29 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_71_bar__plus_00_dot_56_bar__plus_02_dot_61 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Book_bar__minus_02_dot_01_bar__plus_00_dot_19_bar__plus_03_dot_68 loc_bar__minus_8_bar_10_bar_0_bar_60) + (objectAtLocation AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_01_dot_46 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation CD_bar__plus_01_dot_78_bar__plus_00_dot_09_bar__minus_02_dot_95 loc_bar_4_bar__minus_8_bar_1_bar_15) + (objectAtLocation Book_bar__minus_01_dot_16_bar__plus_00_dot_58_bar__minus_02_dot_93 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_01_dot_12_bar__minus_03_dot_16 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_12_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__plus_00_dot_74 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_10_bar__plus_00_dot_94_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_34_bar__plus_00_dot_08_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_55_bar__plus_02_dot_39 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_24 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_28_bar__plus_00_dot_59_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15) + (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0) + (objectAtLocation CD_bar__plus_00_dot_33_bar__plus_00_dot_08_bar__minus_02_dot_99 loc_bar_1_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0) + (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_91_bar__plus_01_dot_11_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 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-309/trial_T20190908_113820_480741/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113820_480741/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4b440909e5fd133840dc6e2b83956bf4810aa516 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113820_480741/traj_data.json @@ -0,0 +1,3177 @@ +{ + "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": 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"CreditCard_b91063b3", + "position": { + "x": -1.33795238, + "y": 0.0831221342, + "z": -2.93418455 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_a0dbc3b4", + "position": { + "x": 1.53727818, + "y": 0.5547943, + "z": 2.39152765 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_ae739ac2", + "position": { + "x": 1.75297952, + "y": 0.5573078, + "z": 2.29300737 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_c29734d2", + "position": { + "x": 1.52839649, + "y": 0.830701053, + "z": 0.0153323412 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_5e28ac0a", + "position": { + "x": -0.276634067, + "y": 0.5856333, + "z": -2.8302083 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_2144f1bb", + "position": { + "x": -0.9146655, + "y": 1.11577451, + "z": -3.158165 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_54d0a615", + "position": { + "x": -1.539376, + "y": 1.12182081, + "z": -2.90291739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5d0b27fe", + "position": { + "x": -0.9146655, + "y": 1.11416793, + "z": -2.73275232 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2958473000, + "scene_num": 309 + }, + "task_id": "trial_T20190908_113820_480741", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3R19ZA45J8915_3NAPMVF0ZZ6IIDH8KZKRIGKTD2H27A", + "high_descs": [ + "Turn right, walk forward, then turn right again to walk between the bed and rug, then walk up to the left side of the bed.", + "Pick up the pillow that is on the bed near the laptop. ", + "Move to the left-hand side of the small round table that sits to the left of the bed.", + "Turn on the lamp that sits on the small round table. " + ], + "task_desc": "Examine a pillow using the light of a lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A14IPKOBOPID9H_3R6P78PK7N2VV5MMWH8HPG6CCI8TGR", + "high_descs": [ + "Turn right and go around the bed and head to the night stand then turn right", + "Pick up the cushion from the bed", + "Turn right then turn right and head to the door then turn right and go to the night stand", + "Turn on the lamp that is on the night stand" + ], + "task_desc": "Examine the cushion by the illuminated lamp on the night stand", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3I0BTBYZA0CU1NAVSL6DC5BBK3G0YZ", + "high_descs": [ + "Turn around and walk to the far side of the bed.", + "Pick up the pillow nearest to the head board.", + "Move to the table on your left.", + "Turn on the lamp." + ], + "task_desc": "Look at a pillow 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-Pillow-None-DeskLamp-309/trial_T20190908_113843_792729/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113843_792729/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..163d621ce9a24ad9a71375d794f93dc8a86d60dc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113843_792729/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 pillow 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_113843_792729)\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_85_bar__plus_01_dot_12_bar__minus_02_dot_90 - object\n AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object\n Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object\n Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98 - object\n Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06 - object\n Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39 - object\n CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15 - object\n CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10 - object\n CD_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_98 - object\n CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26 - object\n CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02 - object\n CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27 - object\n Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object\n CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88 - object\n CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 - object\n DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object\n HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object\n KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 - object\n Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 - object\n Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 - object\n Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 - object\n LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object\n LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object\n Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object\n Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 - object\n Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93 - object\n Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 - object\n Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 - object\n Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02 - object\n Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 - object\n RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32 - object\n RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83 - object\n TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object\n Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object\n Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object\n Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object\n ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle\n ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle\n Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle\n Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle\n Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle\n GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle\n LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle\n Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle\n SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle\n loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location\n loc_bar_2_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location\n loc_bar__minus_3_bar_10_bar_0_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_3_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location\n loc_bar_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_8_bar_10_bar_0_bar_60 - location\n loc_bar_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar_6_bar_13_bar_2_bar_60 - location\n loc_bar__minus_13_bar_2_bar_3_bar_0 - location\n loc_bar__minus_9_bar_12_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_13_bar_8_bar_3_bar_0 - location\n loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_0_bar_15 - location\n loc_bar__minus_1_bar_14_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location\n loc_bar_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar_7_bar__minus_4_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_5_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType)\n (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType)\n (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType)\n (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType)\n (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType)\n (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType)\n (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType)\n (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType)\n (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType)\n (objectType CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10 CDType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType)\n (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98 BookType)\n (objectType Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 LaptopType)\n (objectType Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 PillowType)\n (objectType Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93 PencilType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType)\n (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType)\n (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType)\n (objectType CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88 CreditCardType)\n (objectType Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 LaptopType)\n (objectType RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83 RemoteControlType)\n (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType)\n (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType)\n (objectType CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27 CellPhoneType)\n (objectType CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15 CDType)\n (objectType CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 CreditCardType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType)\n (objectType Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06 BookType)\n (objectType Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 PencilType)\n (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType)\n (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType)\n (objectType CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26 CellPhoneType)\n (objectType KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 KeyChainType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType)\n (objectType CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02 CellPhoneType)\n (objectType CD_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_98 CDType)\n (objectType Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 MugType)\n (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType)\n (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType)\n (objectType Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 LaptopType)\n (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType)\n (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType)\n (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType)\n (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\n (objectType Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 PenType)\n (objectType Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02 PillowType)\n (objectType Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39 BookType)\n (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 AlarmClockType)\n (objectType RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32 RemoteControlType)\n (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType)\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 RemoteControlType)\n (canContain SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\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 CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType RemoteControlType)\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 RemoteControlType)\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 RemoteControlType)\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 RemoteControlType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\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 LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType AlarmClockType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (pickupable CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10)\n (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98)\n (pickupable Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50)\n (pickupable Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15)\n (pickupable Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93)\n (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56)\n (pickupable CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88)\n (pickupable Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50)\n (pickupable RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83)\n (pickupable AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27)\n (pickupable CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15)\n (pickupable CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82)\n (pickupable Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06)\n (pickupable Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73)\n (pickupable CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26)\n (pickupable KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61)\n (pickupable CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02)\n (pickupable CD_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_98)\n (pickupable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83)\n (pickupable Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74)\n (pickupable AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07)\n (pickupable Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (pickupable Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39)\n (pickupable AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90)\n (pickupable RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32)\n (isReceptacleObject Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (openable Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (openable Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (openable Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64)\n \n (atLocation agent1 loc_bar__minus_5_bar_6_bar_1_bar_30)\n \n (cleanable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83)\n \n (heatable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83)\n (coolable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83)\n \n \n (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42)\n \n \n \n \n (inReceptacle Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67)\n (inReceptacle CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27 ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38)\n (inReceptacle Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39 ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38)\n (inReceptacle Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06 Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85)\n (inReceptacle RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64)\n (inReceptacle RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85)\n (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n (inReceptacle Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99)\n \n \n (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60)\n (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_98 loc_bar__minus_13_bar__minus_9_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06 loc_bar__minus_11_bar__minus_8_bar_2_bar_15)\n (objectAtLocation CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27 loc_bar__minus_9_bar_12_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88 loc_bar__minus_6_bar__minus_9_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15)\n (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0)\n (objectAtLocation CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15 loc_bar_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 loc_bar_2_bar__minus_8_bar_2_bar_60)\n (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 2 from bed 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-309/trial_T20190908_113843_792729/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113843_792729/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ff063d1e51b74d92b25bf6a9574c0e483efc1f6c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-309/trial_T20190908_113843_792729/initial_state.pddl @@ -0,0 +1,597 @@ + +(define (problem plan_trial_T20190908_113843_792729) +(: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_85_bar__plus_01_dot_12_bar__minus_02_dot_90 - object + AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 - object + Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 - object + Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98 - object + Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06 - object + Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39 - object + CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15 - object + CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10 - object + CD_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_98 - object + CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26 - object + CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02 - object + CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27 - object + Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 - object + CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88 - object + CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 - object + DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 - object + HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 - object + KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 - object + Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 - object + Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 - object + Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 - object + LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 - object + LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 - object + Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 - object + Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 - object + Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93 - object + Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 - object + Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 - object + Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02 - object + Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 - object + RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32 - object + RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83 - object + TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 - object + Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 - object + Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 - object + Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 - object + ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle + ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 - receptacle + ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 - receptacle + Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - receptacle + Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 - receptacle + Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 - receptacle + GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 - receptacle + LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 - receptacle + Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 - receptacle + SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 - receptacle + loc_bar__minus_13_bar__minus_9_bar_2_bar_60 - location + loc_bar_2_bar__minus_8_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_8_bar_2_bar_15 - location + loc_bar__minus_3_bar_10_bar_0_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar_3_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_9_bar_1_bar_45 - location + loc_bar_7_bar_12_bar_0_bar_60 - location + loc_bar__minus_8_bar_10_bar_0_bar_60 - location + loc_bar_4_bar__minus_8_bar_1_bar_15 - location + loc_bar_6_bar_13_bar_2_bar_60 - location + loc_bar__minus_13_bar_2_bar_3_bar_0 - location + loc_bar__minus_9_bar_12_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_13_bar_8_bar_3_bar_0 - location + loc_bar__minus_5_bar__minus_9_bar_2_bar_60 - location + loc_bar__minus_6_bar_13_bar_0_bar_15 - location + loc_bar__minus_1_bar_14_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar_30 - location + loc_bar_7_bar_12_bar_0_bar_45 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar__minus_13_bar__minus_3_bar_3_bar_0 - location + loc_bar_7_bar__minus_8_bar_2_bar_60 - location + loc_bar_7_bar__minus_4_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_9_bar_1_bar_45 - location + loc_bar__minus_5_bar_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 LaundryHamperType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 SafeType) + (receptacleType Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 BedType) + (receptacleType Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 DeskType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 DrawerType) + (receptacleType GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 DrawerType) + (receptacleType ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 ArmChairType) + (receptacleType ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 SideTableType) + (receptacleType ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 ArmChairType) + (receptacleType Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (receptacleType Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 CabinetType) + (objectType CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10 CDType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 LightSwitchType) + (objectType Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98 BookType) + (objectType Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 LaptopType) + (objectType Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 PillowType) + (objectType Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93 PencilType) + (objectType Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 WindowType) + (objectType Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 ChairType) + (objectType TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 TeddyBearType) + (objectType CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88 CreditCardType) + (objectType Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 LaptopType) + (objectType RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83 RemoteControlType) + (objectType AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType) + (objectType Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 TelevisionType) + (objectType CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27 CellPhoneType) + (objectType CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15 CDType) + (objectType CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 CreditCardType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 BlindsType) + (objectType Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06 BookType) + (objectType Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 PencilType) + (objectType Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 BlindsType) + (objectType Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 MirrorType) + (objectType CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26 CellPhoneType) + (objectType KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 KeyChainType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 WindowType) + (objectType CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02 CellPhoneType) + (objectType CD_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_98 CDType) + (objectType Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 MugType) + (objectType HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 HousePlantType) + (objectType DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 DeskLampType) + (objectType Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 LaptopType) + (objectType LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 LaundryHamperLidType) + (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07 AlarmClockType) + (objectType Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 WindowType) + (objectType Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (objectType Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 PenType) + (objectType Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02 PillowType) + (objectType Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39 BookType) + (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 AlarmClockType) + (objectType RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32 RemoteControlType) + (objectType Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 BlindsType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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 CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType RemoteControlType) + (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 RemoteControlType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (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 RemoteControlType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType AlarmClockType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (pickupable CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10) + (pickupable Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98) + (pickupable Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50) + (pickupable Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15) + (pickupable Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93) + (pickupable TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56) + (pickupable CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88) + (pickupable Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50) + (pickupable RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83) + (pickupable AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27) + (pickupable CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15) + (pickupable CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82) + (pickupable Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06) + (pickupable Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73) + (pickupable CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26) + (pickupable KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61) + (pickupable CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02) + (pickupable CD_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_98) + (pickupable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83) + (pickupable Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74) + (pickupable AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07) + (pickupable Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02) + (pickupable Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39) + (pickupable AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90) + (pickupable RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32) + (isReceptacleObject Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85) + (openable Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (openable Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (openable Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64) + + (atLocation agent1 loc_bar__minus_5_bar_6_bar_1_bar_30) + + (cleanable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83) + + (heatable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83) + (coolable Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83) + + + (toggleable DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42) + + + + + (inReceptacle Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02 Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67) + (inReceptacle CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27 ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38) + (inReceptacle Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39 ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38) + (inReceptacle Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06 Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85) + (inReceptacle RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38) + (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10 Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64) + (inReceptacle RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83 Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85) + (inReceptacle HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + (inReceptacle Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99) + + + (receptacleAtLocation ArmChair_bar__minus_00_dot_94_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_3_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_02_dot_17_bar__plus_00_dot_00_bar__plus_03_dot_63 loc_bar__minus_8_bar_10_bar_0_bar_60) + (receptacleAtLocation ArmChair_bar__minus_03_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_38 loc_bar__minus_9_bar_12_bar_3_bar_60) + (receptacleAtLocation Bed_bar__plus_00_dot_99_bar__plus_00_dot_03_bar__plus_00_dot_67 loc_bar__minus_2_bar_3_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_06_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_4_bar__minus_8_bar_1_bar_15) + (receptacleAtLocation Cabinet_bar__minus_03_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar__minus_11_bar__minus_8_bar_2_bar_15) + (receptacleAtLocation Desk_bar__minus_01_dot_27_bar__plus_01_dot_17_bar__minus_02_dot_99 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_29_bar__minus_02_dot_85 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_16_bar__plus_00_dot_79_bar__minus_02_dot_85 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_34_bar__plus_00_dot_04_bar__minus_02_dot_80 loc_bar__minus_13_bar__minus_9_bar_2_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_01_dot_83_bar__plus_00_dot_04_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_72_bar__plus_00_dot_05_bar__minus_03_dot_05 loc_bar_7_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_78_bar__plus_00_dot_02_bar__plus_02_dot_38 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation CD_bar__minus_02_dot_93_bar__plus_00_dot_08_bar__minus_02_dot_98 loc_bar__minus_13_bar__minus_9_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__plus_01_dot_61_bar__plus_00_dot_56_bar__plus_02_dot_32 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_96_bar__plus_00_dot_83_bar__plus_00_dot_74 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_45_bar__plus_00_dot_59_bar__minus_02_dot_93 loc_bar__minus_5_bar__minus_9_bar_1_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_02_dot_82 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation CellPhone_bar__plus_00_dot_10_bar__plus_00_dot_84_bar__plus_00_dot_26 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_02_dot_16_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Book_bar__minus_03_dot_29_bar__plus_00_dot_19_bar__plus_03_dot_39 loc_bar__minus_9_bar_12_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_53_bar__plus_00_dot_83_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Book_bar__minus_02_dot_69_bar__plus_00_dot_08_bar__minus_03_dot_06 loc_bar__minus_11_bar__minus_8_bar_2_bar_15) + (objectAtLocation CellPhone_bar__minus_03_dot_50_bar__plus_00_dot_19_bar__plus_03_dot_27 loc_bar__minus_9_bar_12_bar_3_bar_60) + (objectAtLocation CD_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__minus_03_dot_10 loc_bar_4_bar__minus_8_bar_1_bar_15) + (objectAtLocation Book_bar__plus_00_dot_39_bar__plus_00_dot_83_bar__plus_00_dot_98 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation LaundryHamperLid_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_03_dot_69 loc_bar_7_bar_12_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_90 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation CellPhone_bar__plus_01_dot_53_bar__plus_00_dot_84_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_28_bar__plus_04_dot_00 loc_bar__minus_1_bar_14_bar_0_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_82_bar__plus_00_dot_87_bar__plus_01_dot_15 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation TeddyBear_bar__plus_01_dot_87_bar__plus_00_dot_04_bar__minus_00_dot_56 loc_bar_7_bar__minus_4_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_02_dot_88 loc_bar__minus_6_bar__minus_9_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_71_bar__plus_00_dot_55_bar__plus_02_dot_61 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_85_bar__plus_01_dot_12_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Laptop_bar__plus_00_dot_10_bar__plus_00_dot_83_bar__plus_00_dot_50 loc_bar__minus_2_bar_3_bar_1_bar_45) + (objectAtLocation HousePlant_bar__minus_00_dot_20_bar__plus_01_dot_10_bar__minus_03_dot_08 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation DeskLamp_bar__plus_01_dot_87_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar_6_bar_13_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_09_bar__minus_02_dot_83 loc_bar__minus_5_bar__minus_9_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_60_bar__plus_01_dot_45_bar__plus_04_dot_00 loc_bar__minus_6_bar_13_bar_0_bar_15) + (objectAtLocation Television_bar__minus_03_dot_88_bar__plus_01_dot_77_bar__plus_02_dot_12 loc_bar__minus_13_bar_8_bar_3_bar_0) + (objectAtLocation CD_bar__plus_01_dot_67_bar__plus_00_dot_09_bar__minus_03_dot_15 loc_bar_4_bar__minus_8_bar_1_bar_15) + (objectAtLocation Pen_bar__minus_01_dot_54_bar__plus_01_dot_12_bar__minus_03_dot_07 loc_bar__minus_4_bar__minus_9_bar_2_bar_30) + (objectAtLocation Window_bar__minus_01_dot_95_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_02_dot_15_bar__minus_03_dot_30 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__plus_00_dot_58 loc_bar__minus_13_bar_2_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_89_bar__plus_01_dot_75_bar__minus_00_dot_68 loc_bar__minus_13_bar__minus_3_bar_3_bar_0) + (objectAtLocation Chair_bar__minus_02_dot_07_bar__plus_00_dot_04_bar__minus_02_dot_69 loc_bar__minus_7_bar__minus_9_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_57_bar__plus_00_dot_08_bar__minus_02_dot_83 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_48_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_2_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_96_bar__plus_02_dot_79_bar__minus_03_dot_25 loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__plus_00_dot_60 loc_bar__minus_13_bar_2_bar_3_bar__minus_30) + (objectAtLocation Blinds_bar__minus_03_dot_80_bar__plus_02_dot_51_bar__minus_00_dot_65 loc_bar__minus_13_bar__minus_3_bar_3_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 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-309/trial_T20190908_113843_792729/traj_data.json 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], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3618538073, + "scene_num": 309 + }, + "task_id": "trial_T20190908_113843_792729", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_3KAKFY4PGXT4SFUN7Q2TSFFUXWG3I5", + "high_descs": [ + "Turn to your left and go just past the bed, then turn right and go to the head of the bed on your right. ", + "Pick up the cylinder shaped pillow in front of you on the bed. ", + "Turn to your left and go to the small round table. ", + "Turn on the lamp on the small round table. " + ], + "task_desc": "Turn on the bedroom lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3MTMREQS4Y9MDVDD5MLIGE28IH1AWA", + "high_descs": [ + "Turn left and walk to the bed, standing in front of it.", + "Pick up the brown pillow from the bed.", + "Turn around and walk to the nightstand.", + "Turn on the lamp on the nightstand." + ], + "task_desc": "Pick up the brown pillow, turn on the lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2TUUIV61CR0C7_3PWWM24LHVPMIRMRU4CXWGGOOM982P", + "high_descs": [ + "Turn left, turn right, move to the side of the bed and face it.", + "Pick up the pillow from the bed.", + "Turn around and face the lamp on the end table.", + "Turn on the lamp on the end table." + ], + "task_desc": "Pick up the pillow from the bed, then turn on the lamp next to the bed.", + "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-314/trial_T20190908_115823_954045/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115823_954045/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8085cd3769d2d392de30a505d75d8dd5f2e882a2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115823_954045/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_T20190908_115823_954045)\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_32_bar__plus_00_dot_93_bar__minus_00_dot_18 - object\n BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object\n Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object\n Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03 - object\n Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47 - object\n Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object\n CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68 - object\n CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09 - object\n CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56 - object\n CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03 - object\n Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object\n CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78 - object\n CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22 - object\n DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object\n KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62 - object\n KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39 - object\n KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18 - object\n Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 - object\n Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14 - object\n Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68 - object\n LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object\n Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object\n Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object\n Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object\n Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19 - object\n Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 - object\n Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63 - object\n Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88 - object\n Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 - object\n Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 - object\n Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97 - object\n Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object\n Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle\n Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle\n Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle\n Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle\n Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle\n GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle\n loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar_1_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_8_bar_9_bar_0_bar_60 - location\n loc_bar_6_bar_2_bar_1_bar_60 - location\n loc_bar_5_bar__minus_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_0_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location\n loc_bar_3_bar__minus_5_bar_2_bar_30 - location\n loc_bar_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar_4_bar_9_bar_0_bar_45 - location\n loc_bar_8_bar_9_bar_0_bar_30 - location\n loc_bar_3_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_4_bar_3_bar_0 - location\n loc_bar_6_bar_6_bar_3_bar_45 - location\n loc_bar_8_bar_9_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType)\n (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType)\n (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType)\n (objectType Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03 BookType)\n (objectType Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47 BookType)\n (objectType Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14 LaptopType)\n (objectType KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39 KeyChainType)\n (objectType KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62 KeyChainType)\n (objectType CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68 CDType)\n (objectType Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88 PenType)\n (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType)\n (objectType Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63 PencilType)\n (objectType Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 LaptopType)\n (objectType CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56 CellPhoneType)\n (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType)\n (objectType CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78 CreditCardType)\n (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType)\n (objectType AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 AlarmClockType)\n (objectType CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09 CellPhoneType)\n (objectType CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22 CreditCardType)\n (objectType Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 PenType)\n (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType)\n (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType)\n (objectType Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 PencilType)\n (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType)\n (objectType KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18 KeyChainType)\n (objectType Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97 PillowType)\n (objectType Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 PenType)\n (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType)\n (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType)\n (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType)\n (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03 CellPhoneType)\n (objectType Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68 LaptopType)\n (objectType Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19 PencilType)\n (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\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 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 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 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 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 BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03)\n (pickupable Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47)\n (pickupable Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14)\n (pickupable KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39)\n (pickupable KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62)\n (pickupable CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68)\n (pickupable Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88)\n (pickupable Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63)\n (pickupable Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85)\n (pickupable CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56)\n (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49)\n (pickupable CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78)\n (pickupable AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18)\n (pickupable CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09)\n (pickupable CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22)\n (pickupable Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25)\n (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17)\n (pickupable Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61)\n (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18)\n (pickupable Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97)\n (pickupable Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29)\n (pickupable CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03)\n (pickupable Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68)\n (pickupable Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19)\n (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40)\n (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40)\n \n (atLocation agent1 loc_bar_8_bar_9_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06)\n \n \n \n \n (inReceptacle KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48)\n (inReceptacle Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40)\n (inReceptacle Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40)\n (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40)\n (inReceptacle Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60)\n (inReceptacle Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47 loc_bar_3_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63 loc_bar_8_bar_9_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 loc_bar_3_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 loc_bar_8_bar_9_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15)\n (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0)\n (objectAtLocation CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 loc_bar_8_bar_9_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 loc_bar_4_bar_9_bar_0_bar_45)\n (objectAtLocation CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68 loc_bar_5_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 loc_bar_3_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 loc_bar_3_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 PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 1 from bed 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-Pillow-None-DeskLamp-314/trial_T20190908_115823_954045/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115823_954045/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ff8a17fecd32dce13573ff900cd9b8f4e58e6cd4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115823_954045/initial_state.pddl @@ -0,0 +1,505 @@ + +(define (problem plan_trial_T20190908_115823_954045) +(: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_32_bar__plus_00_dot_93_bar__minus_00_dot_18 - object + BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object + Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object + Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03 - object + Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47 - object + Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object + CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68 - object + CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09 - object + CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56 - object + CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03 - object + Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object + CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78 - object + CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22 - object + DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object + KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62 - object + KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39 - object + KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18 - object + Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 - object + Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14 - object + Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68 - object + LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object + Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object + Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19 - object + Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 - object + Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63 - object + Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88 - object + Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 - object + Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97 - object + Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object + Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle + Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle + Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle + loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_8_bar_9_bar_0_bar_60 - location + loc_bar_6_bar_2_bar_1_bar_60 - location + loc_bar_5_bar__minus_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_0_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location + loc_bar_3_bar__minus_5_bar_2_bar_30 - location + loc_bar_2_bar__minus_5_bar_0_bar_60 - location + loc_bar_4_bar_9_bar_0_bar_45 - location + loc_bar_8_bar_9_bar_0_bar_30 - location + loc_bar_3_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_4_bar_3_bar_0 - location + loc_bar_6_bar_6_bar_3_bar_45 - location + loc_bar_8_bar_9_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType) + (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType) + (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType) + (objectType Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03 BookType) + (objectType Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47 BookType) + (objectType Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14 LaptopType) + (objectType KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39 KeyChainType) + (objectType KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62 KeyChainType) + (objectType CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68 CDType) + (objectType Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88 PenType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType) + (objectType Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63 PencilType) + (objectType Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 LaptopType) + (objectType CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56 CellPhoneType) + (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType) + (objectType CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78 CreditCardType) + (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType) + (objectType AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 AlarmClockType) + (objectType CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09 CellPhoneType) + (objectType CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22 CreditCardType) + (objectType Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 PenType) + (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType) + (objectType Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 PencilType) + (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType) + (objectType KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18 KeyChainType) + (objectType Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97 PillowType) + (objectType Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 PenType) + (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType) + (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType) + (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType) + (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03 CellPhoneType) + (objectType Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68 LaptopType) + (objectType Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19 PencilType) + (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (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 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 BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (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 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 BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03) + (pickupable Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47) + (pickupable Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14) + (pickupable KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39) + (pickupable KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62) + (pickupable CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68) + (pickupable Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88) + (pickupable Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63) + (pickupable Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85) + (pickupable CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56) + (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (pickupable CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78) + (pickupable AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18) + (pickupable CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09) + (pickupable CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22) + (pickupable Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17) + (pickupable Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61) + (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18) + (pickupable Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97) + (pickupable Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29) + (pickupable CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03) + (pickupable Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68) + (pickupable Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19) + (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + + (atLocation agent1 loc_bar_8_bar_9_bar_1_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06) + + + + + (inReceptacle KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (inReceptacle Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + (inReceptacle Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (inReceptacle Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60) + (inReceptacle Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60) + + + (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_31_bar__plus_00_dot_55_bar__plus_00_dot_68 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_17_bar__plus_00_dot_46_bar__minus_00_dot_78 loc_bar_6_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_03 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_19 loc_bar_6_bar__minus_5_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_23_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_35_bar__plus_00_dot_09_bar__minus_00_dot_47 loc_bar_3_bar__minus_5_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_00_dot_18 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_28_bar__plus_00_dot_05_bar__plus_02_dot_63 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_19_bar__plus_00_dot_85_bar__minus_00_dot_88 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_56 loc_bar_3_bar__minus_2_bar_3_bar_45) + (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_03 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 loc_bar_3_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_97 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_23_bar__plus_00_dot_05_bar__plus_02_dot_61 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_09 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_39 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0) + (objectAtLocation CreditCard_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 loc_bar_8_bar_9_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 loc_bar_4_bar_9_bar_0_bar_45) + (objectAtLocation CD_bar__plus_02_dot_15_bar__plus_00_dot_09_bar__minus_00_dot_68 loc_bar_5_bar__minus_5_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_02_dot_14 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 loc_bar_3_bar__minus_5_bar_2_bar_30) + (objectAtLocation Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 loc_bar_3_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 PillowType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at 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-0.3093406, + "y": 0.548538864, + "z": 0.678604841 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3333683763, + "scene_num": 314 + }, + "task_id": "trial_T20190908_115823_954045", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_308Q0PEVBB4Q7HJ3OZ33JSIGXOPI90", + "high_descs": [ + "Turn around and walk the bed, near the foot but still on the same side.", + "Pick up the purple cushion.", + "Turn left and walk to the right side of the desk.", + "Turn on the lamp." + ], + "task_desc": "Look at a cushion by the light of a lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2RUHO7I7Y4XFA_3U8YCDAGXS7LSLJ91BPJZJ89LUBQ0Y", + "high_descs": [ + "Turn left and walk to the box on the floor. Turn right at the box and go to the blue bed. ", + "Pick up the purple pillow on the bed.", + "Circle left around the bed to the night stand.", + "Turn on the lamp on the night stand." + ], + "task_desc": "Pick up the purple pillow and turn on the lamp on the night stand.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3K2755HG5VUI0GUUZ72K2ROE8HCFDN", + "high_descs": [ + "Go to the bed", + "Pick up the purple pillow on the bed", + "Go to the desk", + "Turn on the desk lamp" + ], + "task_desc": "Pick up a pillow and turn on a 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-Pillow-None-DeskLamp-314/trial_T20190908_115833_802764/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115833_802764/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bce467e5e13e7eb92198aac9ce8234bacd021de2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115833_802764/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 pillow 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_115833_802764)\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_30_bar__plus_00_dot_84_bar__minus_00_dot_83 - object\n BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object\n Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object\n Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97 - object\n Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25 - object\n Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47 - object\n Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object\n CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 - object\n CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 - object\n CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14 - object\n CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 - object\n CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 - object\n Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object\n CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58 - object\n CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48 - object\n DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object\n KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48 - object\n KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47 - object\n KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 - object\n Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 - object\n Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 - object\n LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object\n Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object\n Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object\n Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object\n Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47 - object\n Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19 - object\n Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26 - object\n Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 - object\n Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68 - object\n Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object\n Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle\n Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle\n Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle\n Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle\n Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle\n GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle\n loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar_1_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_8_bar_9_bar_0_bar_60 - location\n loc_bar_6_bar_2_bar_1_bar_60 - location\n loc_bar_5_bar__minus_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_0_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location\n loc_bar_3_bar__minus_5_bar_2_bar_30 - location\n loc_bar_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar_4_bar_9_bar_0_bar_45 - location\n loc_bar_8_bar_9_bar_0_bar_30 - location\n loc_bar_3_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_4_bar_3_bar_0 - location\n loc_bar_6_bar_6_bar_3_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType)\n (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType)\n (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType)\n (objectType Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68 PillowType)\n (objectType CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 CDType)\n (objectType Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47 PencilType)\n (objectType CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58 CreditCardType)\n (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType)\n (objectType CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48 CreditCardType)\n (objectType CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14 CellPhoneType)\n (objectType Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19 PenType)\n (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType)\n (objectType KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48 KeyChainType)\n (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType)\n (objectType AlarmClock_bar__plus_02_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_83 AlarmClockType)\n (objectType Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 LaptopType)\n (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType)\n (objectType Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 LaptopType)\n (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType)\n (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType)\n (objectType Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25 BookType)\n (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType)\n (objectType Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26 PillowType)\n (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType)\n (objectType KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47 KeyChainType)\n (objectType Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 PillowType)\n (objectType CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 CellPhoneType)\n (objectType Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47 BookType)\n (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType)\n (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType)\n (objectType CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 CellPhoneType)\n (objectType CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 CDType)\n (objectType KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 KeyChainType)\n (objectType Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97 BookType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\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 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 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 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 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 BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68)\n (pickupable CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29)\n (pickupable Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47)\n (pickupable CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58)\n (pickupable CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48)\n (pickupable CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14)\n (pickupable Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19)\n (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49)\n (pickupable KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48)\n (pickupable AlarmClock_bar__plus_02_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_83)\n (pickupable Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90)\n (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17)\n (pickupable Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43)\n (pickupable Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25)\n (pickupable Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26)\n (pickupable KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47)\n (pickupable Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46)\n (pickupable CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26)\n (pickupable Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47)\n (pickupable CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60)\n (pickupable CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22)\n (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46)\n (pickupable Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97)\n (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40)\n (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40)\n \n (atLocation agent1 loc_bar_2_bar__minus_5_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06)\n \n \n \n \n (inReceptacle AlarmClock_bar__plus_02_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_83 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40)\n (inReceptacle Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40)\n (inReceptacle KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40)\n (inReceptacle CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48)\n (inReceptacle Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40)\n (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58 loc_bar_5_bar__minus_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47 loc_bar_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47 loc_bar_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47 loc_bar_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15)\n (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0)\n (objectAtLocation CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_83 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 loc_bar_8_bar_9_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 loc_bar_4_bar_9_bar_0_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 loc_bar_3_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 loc_bar_3_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 loc_bar_3_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 PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 3 from bed 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-Pillow-None-DeskLamp-314/trial_T20190908_115833_802764/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115833_802764/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5f9e1d7eb0c4ae618f32a9c6951eea1f23c13cdd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115833_802764/initial_state.pddl @@ -0,0 +1,500 @@ + +(define (problem plan_trial_T20190908_115833_802764) +(: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_30_bar__plus_00_dot_84_bar__minus_00_dot_83 - object + BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object + Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object + Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97 - object + Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47 - object + Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object + CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 - object + CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 - object + CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14 - object + CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 - object + CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 - object + Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object + CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58 - object + CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48 - object + DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object + KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48 - object + KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47 - object + KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 - object + LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object + Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object + Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47 - object + Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19 - object + Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26 - object + Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 - object + Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object + Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle + Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle + Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle + loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_8_bar_9_bar_0_bar_60 - location + loc_bar_6_bar_2_bar_1_bar_60 - location + loc_bar_5_bar__minus_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_0_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location + loc_bar_3_bar__minus_5_bar_2_bar_30 - location + loc_bar_2_bar__minus_5_bar_0_bar_60 - location + loc_bar_4_bar_9_bar_0_bar_45 - location + loc_bar_8_bar_9_bar_0_bar_30 - location + loc_bar_3_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_4_bar_3_bar_0 - location + loc_bar_6_bar_6_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType) + (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType) + (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType) + (objectType Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68 PillowType) + (objectType CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 CDType) + (objectType Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47 PencilType) + (objectType CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58 CreditCardType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType) + (objectType CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48 CreditCardType) + (objectType CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14 CellPhoneType) + (objectType Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19 PenType) + (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType) + (objectType KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48 KeyChainType) + (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType) + (objectType AlarmClock_bar__plus_02_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_83 AlarmClockType) + (objectType Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 LaptopType) + (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType) + (objectType Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 LaptopType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType) + (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType) + (objectType Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25 BookType) + (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType) + (objectType Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26 PillowType) + (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType) + (objectType KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47 KeyChainType) + (objectType Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 PillowType) + (objectType CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 CellPhoneType) + (objectType Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47 BookType) + (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType) + (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType) + (objectType CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 CellPhoneType) + (objectType CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 CDType) + (objectType KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 KeyChainType) + (objectType Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97 BookType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (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 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 BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (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 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 BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68) + (pickupable CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29) + (pickupable Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47) + (pickupable CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58) + (pickupable CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48) + (pickupable CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14) + (pickupable Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19) + (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (pickupable KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48) + (pickupable AlarmClock_bar__plus_02_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_83) + (pickupable Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90) + (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17) + (pickupable Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43) + (pickupable Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26) + (pickupable KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47) + (pickupable Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46) + (pickupable CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26) + (pickupable Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47) + (pickupable CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60) + (pickupable CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22) + (pickupable KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46) + (pickupable Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97) + (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + + (atLocation agent1 loc_bar_2_bar__minus_5_bar_2_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06) + + + + + (inReceptacle AlarmClock_bar__plus_02_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_83 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (inReceptacle Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (inReceptacle KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (inReceptacle CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (inReceptacle Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + + + (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_12_bar__plus_00_dot_09_bar__minus_00_dot_58 loc_bar_5_bar__minus_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_24_bar__plus_00_dot_84_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_14 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Book_bar__minus_00_dot_19_bar__plus_00_dot_38_bar__minus_00_dot_47 loc_bar_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_01_dot_26 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Book_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_51_bar__plus_00_dot_93_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__plus_00_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_97 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_20_bar__plus_00_dot_47_bar__minus_00_dot_19 loc_bar_6_bar__minus_5_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_40_bar__plus_00_dot_38_bar__minus_00_dot_47 loc_bar_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_15_bar__plus_00_dot_55_bar__plus_01_dot_26 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_00_dot_30_bar__plus_00_dot_38_bar__minus_00_dot_47 loc_bar_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0) + (objectAtLocation CreditCard_bar__plus_02_dot_15_bar__plus_00_dot_46_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_30_bar__plus_00_dot_84_bar__minus_00_dot_83 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 loc_bar_8_bar_9_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 loc_bar_4_bar_9_bar_0_bar_45) + (objectAtLocation CD_bar__minus_00_dot_25_bar__plus_00_dot_09_bar__minus_00_dot_29 loc_bar_3_bar__minus_5_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 loc_bar_3_bar__minus_5_bar_2_bar_30) + (objectAtLocation Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 loc_bar_3_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 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-314/trial_T20190908_115833_802764/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115833_802764/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e633689cf437bc5430a60540a37b9f36673337ce --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115833_802764/traj_data.json @@ -0,0 +1,2093 @@ +{ + "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, 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1.263513 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_4f283178", + "position": { + "x": 2.15, + "y": 0.14, + "z": 0.494 + }, + "rotation": { + "x": 0.0, + "y": 12.2437363, + "z": 0.0 + } + }, + { + "objectName": "Book_c376c5e5", + "position": { + "x": -0.192956, + "y": 0.3774975, + "z": -0.469279855 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "BasketBall_09f01e5f", + "position": { + "x": -0.235, + "y": 0.120000347, + "z": 0.166 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": -1.28783893e-06 + } + }, + { + "objectName": "Pen_0ee61c22", + "position": { + "x": 2.19559264, + "y": 0.46727246, + "z": -0.190239578 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_a466dd98", + "position": { + "x": -0.025908228, + "y": 0.561, + "z": 2.45840359 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_4fa82016", + "position": { + "x": -0.4022511, + "y": 0.3797205, + "z": -0.469279855 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_56b6ac64", + "position": { + "x": 0.3333881, + "y": 0.552377045, + "z": 2.140875 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_2d133511", + "position": { + "x": 2.238016, + "y": 0.8431471, + "z": -0.484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_226fa37e", + "position": { + "x": 2.12032461, + "y": 0.0946913958, + "z": -0.581920147 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7857d014", + "position": { + "x": 2.303, + "y": 0.8362336, + "z": -0.8299995 + }, + "rotation": { + "x": -2.13738876e-05, + "y": 285.000183, + "z": 4.0920062e-05 + } + }, + { + "objectName": "CD_c03efa1f", + "position": { + "x": 2.28551912, + "y": 0.8426067, + "z": -0.221719533 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_3a6a5101", + "position": { + "x": -0.4283195, + "y": 0.91942656, + "z": -0.9010472 + }, + "rotation": { + "x": 0.0, + "y": 20.9597816, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 1270187223, + "scene_num": 314 + }, + "task_id": "trial_T20190908_115833_802764", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3180JW2OT733151X3RBMJDSEO6KJ59", + "high_descs": [ + "Turn left and take a tiny step forward then turn left and take a step forward then turn left and walk to the desk then turn right and walk to the bed.", + "Pick up the purple pillow that's closest to you.", + "Turn left to face the light on the desk.", + "Turn on the light on the desk." + ], + "task_desc": "Inspect a pillow by lamp light.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3B2X28YI3Z6T2Q3ZKI8ADVN1CX16B8", + "high_descs": [ + "Turn around and walk to the foot of the bed.", + "Pick up the purple pillow closest to the foot of the bed.", + "Turn left.", + "Turn on the desk lamp." + ], + "task_desc": "Look at a pillow by the light of a lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3OS4RQUCRC6PLJWALBBE710E5WUBF6", + "high_descs": [ + "Turn around and walk to the bed to the left ahead.", + "Pick up the purple pillow near the end of the bed on the left side.", + "Turn left to face the small lamp on the right corner of the wooden desk.", + "Turn on the small lamp on the desk." + ], + "task_desc": "Examine a pillow by 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-Pillow-None-DeskLamp-314/trial_T20190908_115844_093537/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115844_093537/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7929252cfa37180268f9be12c16297f6e3b86476 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115844_093537/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 pillow 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_115844_093537)\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_32_bar__plus_00_dot_93_bar__minus_00_dot_18 - object\n AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 - object\n AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 - object\n BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object\n Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object\n Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56 - object\n Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75 - object\n Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object\n CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65 - object\n CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60 - object\n CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35 - object\n Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object\n CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48 - object\n CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 - object\n DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object\n KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48 - object\n KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 - object\n Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 - object\n Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 - object\n Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 - object\n LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object\n Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object\n Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object\n Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object\n Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 - object\n Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58 - object\n Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29 - object\n Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28 - object\n Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68 - object\n Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 - object\n Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56 - object\n Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object\n Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle\n Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle\n Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle\n Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle\n Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle\n Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle\n GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle\n loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar_1_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_8_bar_9_bar_0_bar_60 - location\n loc_bar_6_bar_2_bar_1_bar_60 - location\n loc_bar_5_bar__minus_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_0_bar_60 - location\n loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location\n loc_bar_3_bar__minus_5_bar_2_bar_30 - location\n loc_bar_2_bar__minus_5_bar_0_bar_60 - location\n loc_bar_4_bar_9_bar_0_bar_45 - location\n loc_bar_8_bar_9_bar_0_bar_30 - location\n loc_bar_3_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_4_bar_3_bar_0 - location\n loc_bar_6_bar_6_bar_3_bar_45 - location\n loc_bar_8_bar__minus_6_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType)\n (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType)\n (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType)\n (objectType Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56 BookType)\n (objectType AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 AlarmClockType)\n (objectType Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58 PencilType)\n (objectType KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 KeyChainType)\n (objectType CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48 CreditCardType)\n (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType)\n (objectType CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35 CellPhoneType)\n (objectType Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 LaptopType)\n (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType)\n (objectType Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75 BookType)\n (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType)\n (objectType AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 AlarmClockType)\n (objectType KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48 KeyChainType)\n (objectType Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68 PillowType)\n (objectType Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 LaptopType)\n (objectType Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 PencilType)\n (objectType Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 LaptopType)\n (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType)\n (objectType AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 AlarmClockType)\n (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType)\n (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType)\n (objectType CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60 CDType)\n (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType)\n (objectType Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28 PenType)\n (objectType Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56 PillowType)\n (objectType CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 CreditCardType)\n (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType)\n (objectType Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 PillowType)\n (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType)\n (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType)\n (objectType CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65 CDType)\n (objectType Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29 PencilType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\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 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 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 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 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 BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56)\n (pickupable AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25)\n (pickupable Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58)\n (pickupable KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46)\n (pickupable CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48)\n (pickupable CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35)\n (pickupable Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85)\n (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49)\n (pickupable Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75)\n (pickupable AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18)\n (pickupable KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48)\n (pickupable Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68)\n (pickupable Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90)\n (pickupable Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61)\n (pickupable Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43)\n (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17)\n (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25)\n (pickupable CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60)\n (pickupable Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28)\n (pickupable Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56)\n (pickupable CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22)\n (pickupable Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46)\n (pickupable CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65)\n (pickupable Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29)\n (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40)\n (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40)\n (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40)\n \n (atLocation agent1 loc_bar_8_bar__minus_6_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06)\n \n \n \n \n (inReceptacle CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40)\n (inReceptacle Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61)\n (inReceptacle CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40)\n (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95)\n (inReceptacle Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40)\n (inReceptacle Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48)\n (inReceptacle Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60)\n \n \n (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65 loc_bar_3_bar__minus_5_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58 loc_bar_6_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 loc_bar_8_bar_9_bar_0_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29 loc_bar_2_bar__minus_5_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15)\n (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0)\n (objectAtLocation CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 loc_bar_8_bar_9_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 loc_bar_4_bar_9_bar_0_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 loc_bar_6_bar_6_bar_3_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 loc_bar_3_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 loc_bar_3_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 PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 3 from bed 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-Pillow-None-DeskLamp-314/trial_T20190908_115844_093537/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115844_093537/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b0c4313be4bada6967285c770baae94ec67f03e9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115844_093537/initial_state.pddl @@ -0,0 +1,505 @@ + +(define (problem plan_trial_T20190908_115844_093537) +(: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_32_bar__plus_00_dot_93_bar__minus_00_dot_18 - object + AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 - object + BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 - object + Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 - object + Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56 - object + Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75 - object + Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 - object + CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65 - object + CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60 - object + CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35 - object + Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 - object + CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48 - object + CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 - object + DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 - object + KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48 - object + KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 - object + Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 - object + Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 - object + LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 - object + Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 - object + Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 - object + Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 - object + Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58 - object + Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29 - object + Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28 - object + Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 - object + Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56 - object + Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 - object + Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 - receptacle + Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 - receptacle + Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 - receptacle + Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 - receptacle + Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 - receptacle + GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 - receptacle + loc_bar_3_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_60 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_8_bar_9_bar_0_bar_60 - location + loc_bar_6_bar_2_bar_1_bar_60 - location + loc_bar_5_bar__minus_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_0_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar__minus_15 - location + loc_bar_3_bar__minus_5_bar_2_bar_30 - location + loc_bar_2_bar__minus_5_bar_0_bar_60 - location + loc_bar_4_bar_9_bar_0_bar_45 - location + loc_bar_8_bar_9_bar_0_bar_30 - location + loc_bar_3_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_4_bar_3_bar_0 - location + loc_bar_6_bar_6_bar_3_bar_45 - location + loc_bar_8_bar__minus_6_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DresserType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 DrawerType) + (receptacleType Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 DeskType) + (receptacleType Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 DrawerType) + (receptacleType Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 BedType) + (objectType Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56 BookType) + (objectType AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 AlarmClockType) + (objectType Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58 PencilType) + (objectType KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 KeyChainType) + (objectType CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48 CreditCardType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 PaintingType) + (objectType CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35 CellPhoneType) + (objectType Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 LaptopType) + (objectType Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 BoxType) + (objectType Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75 BookType) + (objectType Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 BlindsType) + (objectType AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 AlarmClockType) + (objectType KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48 KeyChainType) + (objectType Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68 PillowType) + (objectType Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 LaptopType) + (objectType Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 PencilType) + (objectType Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 LaptopType) + (objectType BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 BasketBallType) + (objectType AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 AlarmClockType) + (objectType Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 PaintingType) + (objectType Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 MirrorType) + (objectType CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60 CDType) + (objectType Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 WindowType) + (objectType Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28 PenType) + (objectType Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56 PillowType) + (objectType CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 CreditCardType) + (objectType DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 DeskLampType) + (objectType Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 PillowType) + (objectType LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 LightSwitchType) + (objectType Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 ChairType) + (objectType CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65 CDType) + (objectType Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29 PencilType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (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 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 BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (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 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 BedType BasketBallType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (pickupable Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56) + (pickupable AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58) + (pickupable KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46) + (pickupable CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48) + (pickupable CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35) + (pickupable Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85) + (pickupable Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (pickupable Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75) + (pickupable AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18) + (pickupable KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48) + (pickupable Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68) + (pickupable Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90) + (pickupable Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61) + (pickupable Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43) + (pickupable BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17) + (pickupable AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25) + (pickupable CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60) + (pickupable Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28) + (pickupable Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56) + (pickupable CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22) + (pickupable Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46) + (pickupable CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65) + (pickupable Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29) + (isReceptacleObject Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (openable Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (openable Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + + (atLocation agent1 loc_bar_8_bar__minus_6_bar_2_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06) + + + + + (inReceptacle CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75 Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40) + (inReceptacle Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56 Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61) + (inReceptacle CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40) + (inReceptacle DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95) + (inReceptacle Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28 Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40) + (inReceptacle Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48 Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48) + (inReceptacle Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60) + + + (receptacleAtLocation Bed_bar__plus_00_dot_01_bar__minus_00_dot_06_bar__plus_01_dot_61 loc_bar_6_bar_6_bar_3_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__minus_00_dot_95 loc_bar_2_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_21_bar__minus_00_dot_48 loc_bar_5_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_22_bar__minus_00_dot_40 loc_bar_3_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_51_bar__minus_00_dot_40 loc_bar_2_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_40 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_26_bar__plus_00_dot_00_bar__plus_02_dot_60 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_43_bar__plus_00_dot_92_bar__minus_00_dot_90 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation CD_bar__minus_00_dot_19_bar__plus_00_dot_09_bar__minus_00_dot_65 loc_bar_3_bar__minus_5_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_22_bar__plus_00_dot_46_bar__minus_00_dot_48 loc_bar_6_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_19_bar__plus_00_dot_84_bar__minus_00_dot_48 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_20_bar__plus_00_dot_46_bar__minus_00_dot_58 loc_bar_6_bar__minus_5_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_03_bar__plus_00_dot_56_bar__plus_02_dot_46 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Book_bar__plus_00_dot_49_bar__plus_00_dot_55_bar__plus_01_dot_56 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_15_bar__plus_00_dot_62_bar__plus_01_dot_56 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_02_dot_43 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_01_dot_25 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_20_bar__plus_00_dot_05_bar__plus_02_dot_61 loc_bar_8_bar_9_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_01_bar__plus_00_dot_01_bar__minus_01_dot_24 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_15_bar__plus_00_dot_14_bar__plus_00_dot_49 loc_bar_6_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__plus_02_dot_33_bar__plus_00_dot_84_bar__minus_00_dot_75 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_67_bar__plus_00_dot_92_bar__minus_00_dot_06 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_24_bar__plus_00_dot_12_bar__plus_00_dot_17 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_35_bar__plus_00_dot_67_bar__minus_00_dot_28 loc_bar_3_bar__minus_2_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_17_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_14_bar__plus_00_dot_38_bar__minus_00_dot_29 loc_bar_2_bar__minus_5_bar_0_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_84_bar__minus_00_dot_35 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_13_bar__plus_00_dot_93_bar__minus_01_dot_46 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__minus_00_dot_22 loc_bar_1_bar__minus_1_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__minus_00_dot_79_bar__plus_01_dot_81_bar__plus_01_dot_02 loc_bar_4_bar_4_bar_3_bar_0) + (objectAtLocation CreditCard_bar__plus_02_dot_29_bar__plus_00_dot_84_bar__minus_00_dot_22 loc_bar_6_bar__minus_2_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_32_bar__plus_00_dot_93_bar__minus_00_dot_18 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_12_bar__plus_01_dot_28_bar__plus_02_dot_75 loc_bar_8_bar_9_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_73_bar__plus_01_dot_20_bar__plus_02_dot_75 loc_bar_4_bar_9_bar_0_bar_45) + (objectAtLocation CD_bar__minus_00_dot_70_bar__plus_00_dot_92_bar__minus_00_dot_60 loc_bar_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_33_bar__plus_00_dot_55_bar__plus_01_dot_85 loc_bar_6_bar_6_bar_3_bar_45) + (objectAtLocation Window_bar__plus_00_dot_67_bar__plus_01_dot_36_bar__minus_01_dot_91 loc_bar_3_bar__minus_5_bar_2_bar_30) + (objectAtLocation Blinds_bar__plus_00_dot_70_bar__plus_01_dot_98_bar__minus_01_dot_87 loc_bar_3_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 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-314/trial_T20190908_115844_093537/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115844_093537/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..63fb4ad3e2ae369fc10c5197503c4776a406ffe2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-314/trial_T20190908_115844_093537/traj_data.json @@ -0,0 +1,2219 @@ +{ + "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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+ "objectName": "Pillow_a466dd98", + "position": { + "x": -0.025908228, + "y": 0.561, + "z": 2.45840359 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_4fa82016", + "position": { + "x": 2.19559264, + "y": 0.4623372, + "z": -0.581920147 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_56b6ac64", + "position": { + "x": 2.14300966, + "y": 0.844838142, + "z": -0.352859765 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_2d133511", + "position": { + "x": 2.19051266, + "y": 0.8431471, + "z": -0.484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_226fa37e", + "position": { + "x": 2.220682, + "y": 0.461615622, + "z": -0.484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7857d014", + "position": { + "x": -0.603738368, + "y": 0.9253337, + "z": -1.24582207 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_c03efa1f", + "position": { + "x": -0.192956, + "y": 0.08833773, + "z": -0.6533468 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_3a6a5101", + "position": { + "x": -0.4283195, + "y": 0.91942656, + "z": -0.9010472 + }, + "rotation": { + "x": 0.0, + "y": 20.9597816, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 1731597286, + "scene_num": 314 + }, + "task_id": "trial_T20190908_115844_093537", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_3KIBXJ1WD8LKKZDXQR7XTYSIKRHKO8", + "high_descs": [ + "Turn around and walk across the room, then turn right and take one step, then turn left and take one step, then turn right and walk to the bed.", + "Pick up the purple pillow at the edge of the bed. ", + "Turn to the left to face the desk. ", + "Turn on the lamp." + ], + "task_desc": "Look at the pillow in the light.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3KMS4QQVK5HQEM04ROO764J4SR6FKZ", + "high_descs": [ + "Turn right and walk to the chair then turn right and walk to the bed then take a step to your left.", + "Pick up the purple pillow that's in front of you.", + "Turn left to face the light on the desk.", + "Turn on the light that's on the desk." + ], + "task_desc": "Inspect a pillow by lamp light.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2RQMEPIHW5BOS_32VNZTT0AAV23AGAXR1LGC8RYS9R4W", + "high_descs": [ + "Turn right, walk to the desk, turn right, and walk to the bed.", + "Pick up the pillow.", + "Turn left to face the desk.", + "Turn on the lamp." + ], + "task_desc": "Examine a pillow under the 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-RemoteControl-None-FloorLamp-213/trial_T20190907_070913_773085/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070913_773085/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..dce24498594c0590153c96b266202fc476c869d9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070913_773085/initial_state.pddl @@ -0,0 +1,600 @@ + +(define (problem plan_trial_T20190907_070913_773085) +(: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__plus_14_dot_23_bar__plus_00_dot_75_bar__plus_01_dot_56 - object + Book_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 - object + Box_bar__plus_14_dot_43_bar__plus_01_dot_00_bar__plus_02_dot_09 - object + Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 - object + CreditCard_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86 - object + CreditCard_bar__plus_12_dot_09_bar__plus_00_dot_46_bar__plus_02_dot_93 - object + CreditCard_bar__plus_14_dot_62_bar__plus_00_dot_75_bar__plus_01_dot_56 - object + FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 - object + HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 - object + KeyChain_bar__plus_09_dot_79_bar__plus_00_dot_43_bar__plus_03_dot_14 - object + KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_68 - object + Laptop_bar__plus_09_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_14 - object + Laptop_bar__plus_10_dot_81_bar__plus_00_dot_45_bar__plus_03_dot_16 - object + Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 - object + LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 - object + Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 - object + Pillow_bar__plus_11_dot_45_bar__plus_00_dot_53_bar__plus_03_dot_08 - object + Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 - object + RemoteControl_bar__plus_09_dot_31_bar__plus_00_dot_43_bar__plus_03_dot_36 - object + Statue_bar__plus_11_dot_23_bar__plus_00_dot_60_bar__plus_00_dot_68 - object + Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 - object + Watch_bar__plus_14_dot_14_bar__plus_00_dot_75_bar__plus_00_dot_52 - object + Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 - object + Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 - object + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 - receptacle + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 - receptacle + CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 - receptacle + Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 - receptacle + GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 - receptacle + SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 - receptacle + Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 - receptacle + loc_bar_53_bar_6_bar_1_bar_45 - location + loc_bar_43_bar_8_bar_2_bar_60 - location + loc_bar_52_bar_4_bar_1_bar_45 - location + loc_bar_53_bar_4_bar_1_bar_45 - location + loc_bar_41_bar__minus_4_bar_2_bar_0 - location + loc_bar_52_bar_0_bar_1_bar_45 - location + loc_bar_53_bar_10_bar_1_bar_45 - location + loc_bar_36_bar_3_bar_3_bar_60 - location + loc_bar_38_bar_9_bar_0_bar_60 - location + loc_bar_46_bar_8_bar_0_bar_60 - location + loc_bar_35_bar_4_bar_3_bar_0 - location + loc_bar_52_bar_6_bar_1_bar_45 - location + loc_bar_53_bar_7_bar_1_bar_60 - location + loc_bar_55_bar__minus_1_bar_1_bar_60 - location + loc_bar_51_bar__minus_1_bar_2_bar_60 - location + loc_bar_54_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_3_bar__minus_15 - location + loc_bar_53_bar_3_bar_1_bar_60 - location + loc_bar_53_bar_8_bar_1_bar_45 - location + loc_bar_52_bar_13_bar_0_bar_30 - location + loc_bar_42_bar__minus_3_bar_1_bar_60 - location + loc_bar_32_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_53_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_0_bar_60 - location + loc_bar_47_bar__minus_3_bar_2_bar_0 - location + loc_bar_36_bar_0_bar_3_bar_60 - location + loc_bar_32_bar__minus_3_bar_2_bar_60 - location + loc_bar_35_bar_6_bar_3_bar_60 - location + loc_bar_52_bar_2_bar_1_bar_45 - location + loc_bar_54_bar_5_bar_1_bar_0 - location + loc_bar_37_bar__minus_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 DrawerType) + (receptacleType CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 CoffeeTableType) + (receptacleType SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 SideTableType) + (receptacleType DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 DiningTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 DrawerType) + (receptacleType Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 SofaType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 ArmChairType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 DrawerType) + (receptacleType GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 GarbageCanType) + (receptacleType SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 SideTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 ArmChairType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 DrawerType) + (receptacleType SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 SideTableType) + (receptacleType Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 DresserType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 PaintingType) + (objectType Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 PillowType) + (objectType Pillow_bar__plus_11_dot_45_bar__plus_00_dot_53_bar__plus_03_dot_08 PillowType) + (objectType KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_68 KeyChainType) + (objectType FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 FloorLampType) + (objectType CreditCard_bar__plus_14_dot_62_bar__plus_00_dot_75_bar__plus_01_dot_56 CreditCardType) + (objectType Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 LaptopType) + (objectType Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 ChairType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 PaintingType) + (objectType Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 TelevisionType) + (objectType Statue_bar__plus_11_dot_23_bar__plus_00_dot_60_bar__plus_00_dot_68 StatueType) + (objectType LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 LightSwitchType) + (objectType HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 HousePlantType) + (objectType KeyChain_bar__plus_09_dot_79_bar__plus_00_dot_43_bar__plus_03_dot_14 KeyChainType) + (objectType Laptop_bar__plus_09_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_14 LaptopType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 PaintingType) + (objectType Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 WindowType) + (objectType Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 PaintingType) + (objectType CreditCard_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86 CreditCardType) + (objectType RemoteControl_bar__plus_09_dot_31_bar__plus_00_dot_43_bar__plus_03_dot_36 RemoteControlType) + (objectType CreditCard_bar__plus_12_dot_09_bar__plus_00_dot_46_bar__plus_02_dot_93 CreditCardType) + (objectType Book_bar__plus_14_dot_23_bar__plus_00_dot_75_bar__plus_01_dot_56 BookType) + (objectType Box_bar__plus_14_dot_43_bar__plus_01_dot_00_bar__plus_02_dot_09 BoxType) + (objectType Watch_bar__plus_14_dot_14_bar__plus_00_dot_75_bar__plus_00_dot_52 WatchType) + (objectType Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 WindowType) + (objectType Laptop_bar__plus_10_dot_81_bar__plus_00_dot_45_bar__plus_03_dot_16 LaptopType) + (objectType Book_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 BookType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DiningTableType BookType) + (canContain DiningTableType WatchType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DresserType BookType) + (canContain DresserType WatchType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (pickupable Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23) + (pickupable Pillow_bar__plus_11_dot_45_bar__plus_00_dot_53_bar__plus_03_dot_08) + (pickupable KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_68) + (pickupable CreditCard_bar__plus_14_dot_62_bar__plus_00_dot_75_bar__plus_01_dot_56) + (pickupable Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14) + (pickupable Statue_bar__plus_11_dot_23_bar__plus_00_dot_60_bar__plus_00_dot_68) + (pickupable KeyChain_bar__plus_09_dot_79_bar__plus_00_dot_43_bar__plus_03_dot_14) + (pickupable Laptop_bar__plus_09_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_14) + (pickupable CreditCard_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86) + 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Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05) + + (atLocation agent1 loc_bar_37_bar__minus_2_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40) + + + + + (inReceptacle Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle CreditCard_bar__plus_12_dot_09_bar__plus_00_dot_46_bar__plus_02_dot_93 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Laptop_bar__plus_10_dot_81_bar__plus_00_dot_45_bar__plus_03_dot_16 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Pillow_bar__plus_11_dot_45_bar__plus_00_dot_53_bar__plus_03_dot_08 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle KeyChain_bar__plus_09_dot_79_bar__plus_00_dot_43_bar__plus_03_dot_14 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle RemoteControl_bar__plus_09_dot_31_bar__plus_00_dot_43_bar__plus_03_dot_36 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle Laptop_bar__plus_09_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_14 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle Book_bar__plus_14_dot_23_bar__plus_00_dot_75_bar__plus_01_dot_56 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Box_bar__plus_14_dot_43_bar__plus_01_dot_00_bar__plus_02_dot_09 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Watch_bar__plus_14_dot_14_bar__plus_00_dot_75_bar__plus_00_dot_52 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle CreditCard_bar__plus_14_dot_62_bar__plus_00_dot_75_bar__plus_01_dot_56 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Book_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_68 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Statue_bar__plus_11_dot_23_bar__plus_00_dot_60_bar__plus_00_dot_68 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle CreditCard_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16) + + + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 loc_bar_36_bar_3_bar_3_bar_60) + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_43_bar_8_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 loc_bar_38_bar_9_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 loc_bar_52_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 loc_bar_52_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 loc_bar_52_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 loc_bar_52_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 loc_bar_53_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 loc_bar_53_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 loc_bar_53_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 loc_bar_53_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 loc_bar_53_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 loc_bar_53_bar_10_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 loc_bar_54_bar_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 loc_bar_32_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 loc_bar_42_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 loc_bar_51_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 loc_bar_55_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_12_dot_09_bar__plus_00_dot_46_bar__plus_02_dot_93 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Book_bar__plus_14_dot_23_bar__plus_00_dot_75_bar__plus_01_dot_56 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_09_dot_50_bar__plus_00_dot_43_bar__plus_03_dot_14 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_14_dot_62_bar__plus_00_dot_75_bar__plus_01_dot_56 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Book_bar__plus_14_dot_23_bar__plus_00_dot_76_bar__plus_01_dot_04 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 loc_bar_35_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__plus_14_dot_43_bar__plus_01_dot_00_bar__plus_02_dot_09 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 loc_bar_32_bar_11_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_09_dot_79_bar__plus_00_dot_43_bar__plus_03_dot_14 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 loc_bar_32_bar__minus_3_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 loc_bar_32_bar_11_bar_3_bar__minus_15) + (objectAtLocation Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_11_dot_45_bar__plus_00_dot_53_bar__plus_03_dot_08 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_11_dot_23_bar__plus_00_dot_60_bar__plus_00_dot_68 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 loc_bar_52_bar_13_bar_0_bar_30) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 loc_bar_35_bar_4_bar_3_bar_0) + (objectAtLocation Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 loc_bar_54_bar_5_bar_1_bar_0) + (objectAtLocation Laptop_bar__plus_10_dot_81_bar__plus_00_dot_45_bar__plus_03_dot_16 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_09_dot_31_bar__plus_00_dot_43_bar__plus_03_dot_36 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation Watch_bar__plus_14_dot_14_bar__plus_00_dot_75_bar__plus_00_dot_52 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 loc_bar_42_bar__minus_3_bar_1_bar_60) + (objectAtLocation Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 loc_bar_47_bar__minus_3_bar_2_bar_0) + (objectAtLocation Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 loc_bar_41_bar__minus_4_bar_2_bar_0) + ) + + + (: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-213/trial_T20190907_070913_773085/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070913_773085/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..90033feda338544a21aff9fb44f921d97360d7f8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070913_773085/traj_data.json @@ -0,0 +1,3447 @@ +{ + "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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"y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_dbd13737", + "position": { + "x": 12.0487576, + "y": 0.52, + "z": 3.22808361 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_1f10aaf1", + "position": { + "x": 11.2326145, + "y": 0.5976794, + "z": 0.6782548 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_4db8f8db", + "position": { + "x": 11.2326145, + "y": 0.5889999, + "z": 1.14258671 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_24c7992d", + "position": { + "x": 9.305346, + "y": 0.43270722, + "z": 3.36050129 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_fac78eb0", + "position": { + "x": 14.1357975, + "y": 0.752172649, + "z": 0.5198047 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 3593986821, + "scene_num": 213 + }, + "task_id": "trial_T20190907_070913_773085", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_3PB5A5BD0YN0CI3HN6GZJYUSTWIG7S", + "high_descs": [ + "Move to the arm chair next to the cat post", + "Pick up a remote from the chair", + "Move to the lamp behind you", + "Turn on the lamp " + ], + "task_desc": "Inspect a remote with a tall lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3TPWUS5F8CI2LLODTSSSLN8UOWJCW2", + "high_descs": [ + "Walk forward across the room to the left most pink arm chair", + "Pick up the remote from the pink arm chair", + "Turn around and walk up to the floor lamp in the corner", + "Turn on the floor lamp" + ], + "task_desc": "Examine the remote under the light of the floor lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3K772S5NPBSZLTD2UKCNA8YAUCCHED", + "high_descs": [ + "Walk forward to the chair closest to the lamp.", + "Pick up the remote from the chair.", + "Turn around to face the lamp.", + "Turn on the lamp." + ], + "task_desc": "Look at the remote by the lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3PEIJLRY6WAQOJZ8KOOFZ0T4P6VWXW", + "high_descs": [ + "Cross the room and turn to face the red chair closest to the lamp.", + "Pick the remote up from the chair.", + "Move to the left and face the lamp with the pink base.", + "Turn the lamp on." + ], + "task_desc": "Turn a lamp on while holding a remote.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3TU5ZICBRGIVPL2E07DHRCUPAW2Q8B", + "high_descs": [ + "Head across the room to the red chair on the left.", + "Pick up the remote on the chair.", + "Bring the remote to the tall lamp in the corner to the left of the red chair.", + "Turn on the tall lamp." + ], + "task_desc": "Examine the remote in the light of the tall lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3RU7GD8VPRAS8TG8ES4X8Y4GH25PSH", + "high_descs": [ + "Go straight across the room, the turn right to face the red chair. ", + "Pick up the remote from the chair.", + "Carry the remote and turn around to the lamp.", + "Hold the remote and turn on the lamp." + ], + "task_desc": "Pick up a remote and turn on a 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-RemoteControl-None-FloorLamp-213/trial_T20190907_070930_131205/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070930_131205/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..892508ebe456501bbb335d414ffc2ff3c0da942b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070930_131205/initial_state.pddl @@ -0,0 +1,610 @@ + +(define (problem plan_trial_T20190907_070930_131205) +(: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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LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 - object + Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 - object + Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 - object + RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_01_dot_14 - object + RemoteControl_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_00_dot_52 - object + Statue_bar__plus_10_dot_26_bar__plus_00_dot_60_bar__plus_00_dot_68 - object + Statue_bar__plus_10_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_68 - object + Statue_bar__plus_10_dot_65_bar__plus_00_dot_60_bar__plus_00_dot_68 - object + Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 - object + 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Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 - receptacle + Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 - receptacle + GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 - receptacle + SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 - receptacle + Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 - receptacle + loc_bar_53_bar_6_bar_1_bar_45 - location + loc_bar_43_bar_8_bar_2_bar_60 - location + loc_bar_52_bar_4_bar_1_bar_45 - location + loc_bar_53_bar_4_bar_1_bar_45 - location + loc_bar_41_bar__minus_4_bar_2_bar_0 - location + loc_bar_52_bar_0_bar_1_bar_45 - location + loc_bar_53_bar_10_bar_1_bar_45 - location + loc_bar_36_bar_3_bar_3_bar_60 - location + loc_bar_38_bar_9_bar_0_bar_60 - location + loc_bar_46_bar_8_bar_0_bar_60 - location + loc_bar_35_bar_4_bar_3_bar_0 - location + loc_bar_52_bar_6_bar_1_bar_45 - location + loc_bar_53_bar_7_bar_1_bar_60 - location + loc_bar_55_bar__minus_1_bar_1_bar_60 - location + loc_bar_51_bar__minus_1_bar_2_bar_60 - location + loc_bar_54_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_3_bar__minus_15 - location + loc_bar_53_bar_3_bar_1_bar_60 - location + loc_bar_53_bar_8_bar_1_bar_45 - location + loc_bar_52_bar_13_bar_0_bar_30 - location + loc_bar_42_bar__minus_3_bar_1_bar_60 - location + loc_bar_32_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_53_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_0_bar_60 - location + loc_bar_47_bar__minus_3_bar_2_bar_0 - location + loc_bar_36_bar_0_bar_3_bar_60 - location + loc_bar_32_bar__minus_3_bar_2_bar_60 - location + loc_bar_35_bar_6_bar_3_bar_60 - location + loc_bar_52_bar_2_bar_1_bar_45 - location + loc_bar_54_bar_5_bar_1_bar_0 - location + loc_bar_49_bar__minus_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 DrawerType) + (receptacleType CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 CoffeeTableType) + (receptacleType SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 SideTableType) + (receptacleType DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 DiningTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 DrawerType) + (receptacleType Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 SofaType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 ArmChairType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 DrawerType) + (receptacleType GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 GarbageCanType) + (receptacleType SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 SideTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 ArmChairType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 DrawerType) + (receptacleType SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 SideTableType) + (receptacleType Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 DresserType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 PaintingType) + (objectType Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_86 WatchType) + (objectType Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 PillowType) + (objectType Laptop_bar__plus_11_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_16 LaptopType) + (objectType FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 FloorLampType) + (objectType Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 ChairType) + (objectType RemoteControl_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_00_dot_52 RemoteControlType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 PaintingType) + (objectType Book_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_01_dot_30 BookType) + (objectType Statue_bar__plus_10_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_68 StatueType) + (objectType Book_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_01_dot_14 BookType) + (objectType RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_01_dot_14 RemoteControlType) + (objectType KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_96 KeyChainType) + (objectType Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 TelevisionType) + (objectType LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 LightSwitchType) + (objectType HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 HousePlantType) + (objectType Watch_bar__plus_14_dot_09_bar__plus_00_dot_14_bar__plus_00_dot_99 WatchType) + (objectType Laptop_bar__plus_11_dot_45_bar__plus_00_dot_45_bar__plus_03_dot_16 LaptopType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 PaintingType) + (objectType Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 WindowType) + (objectType Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 PaintingType) + (objectType Statue_bar__plus_10_dot_26_bar__plus_00_dot_60_bar__plus_00_dot_68 StatueType) + (objectType CreditCard_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__plus_00_dot_89 CreditCardType) + (objectType Watch_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_00_dot_78 WatchType) + (objectType Statue_bar__plus_10_dot_65_bar__plus_00_dot_60_bar__plus_00_dot_68 StatueType) + (objectType Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 WindowType) + (objectType Book_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_01_dot_83 BookType) + (objectType Box_bar__plus_10_dot_35_bar__plus_00_dot_83_bar__plus_01_dot_05 BoxType) + (objectType Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 LaptopType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DiningTableType BookType) + (canContain DiningTableType WatchType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DresserType BookType) + (canContain DresserType WatchType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (pickupable Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_86) + (pickupable Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23) + (pickupable Laptop_bar__plus_11_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_16) + (pickupable RemoteControl_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_00_dot_52) + (pickupable Book_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_01_dot_30) + (pickupable Statue_bar__plus_10_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_68) + (pickupable Book_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_01_dot_14) + (pickupable RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_01_dot_14) + (pickupable KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_96) + (pickupable Watch_bar__plus_14_dot_09_bar__plus_00_dot_14_bar__plus_00_dot_99) + (pickupable Laptop_bar__plus_11_dot_45_bar__plus_00_dot_45_bar__plus_03_dot_16) + (pickupable Statue_bar__plus_10_dot_26_bar__plus_00_dot_60_bar__plus_00_dot_68) + (pickupable CreditCard_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__plus_00_dot_89) + (pickupable Watch_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_00_dot_78) + (pickupable Statue_bar__plus_10_dot_65_bar__plus_00_dot_60_bar__plus_00_dot_68) + (pickupable Book_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_01_dot_83) + (pickupable Box_bar__plus_10_dot_35_bar__plus_00_dot_83_bar__plus_01_dot_05) + (pickupable Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14) + (isReceptacleObject Box_bar__plus_10_dot_35_bar__plus_00_dot_83_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05) + + (atLocation agent1 loc_bar_49_bar__minus_1_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40) + + + + + (inReceptacle Laptop_bar__plus_11_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_16 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Laptop_bar__plus_11_dot_45_bar__plus_00_dot_45_bar__plus_03_dot_16 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle RemoteControl_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_00_dot_52 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Book_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_01_dot_30 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Book_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_01_dot_83 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Watch_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_00_dot_78 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Watch_bar__plus_14_dot_09_bar__plus_00_dot_14_bar__plus_00_dot_99 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05) + (inReceptacle CreditCard_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__plus_00_dot_89 ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77) + (inReceptacle Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_86 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Statue_bar__plus_10_dot_65_bar__plus_00_dot_60_bar__plus_00_dot_68 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Statue_bar__plus_10_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_68 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Book_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_01_dot_14 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_01_dot_14 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_96 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Statue_bar__plus_10_dot_26_bar__plus_00_dot_60_bar__plus_00_dot_68 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Box_bar__plus_10_dot_35_bar__plus_00_dot_83_bar__plus_01_dot_05 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16) + + + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 loc_bar_36_bar_3_bar_3_bar_60) + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_43_bar_8_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 loc_bar_38_bar_9_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 loc_bar_52_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 loc_bar_52_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 loc_bar_52_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 loc_bar_52_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 loc_bar_53_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 loc_bar_53_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 loc_bar_53_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 loc_bar_53_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 loc_bar_53_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 loc_bar_53_bar_10_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 loc_bar_54_bar_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 loc_bar_32_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 loc_bar_42_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 loc_bar_51_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 loc_bar_55_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Watch_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_86 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_01_dot_14 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_14 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_10_dot_26_bar__plus_00_dot_60_bar__plus_00_dot_68 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Book_bar__plus_14_dot_53_bar__plus_00_dot_75_bar__plus_01_dot_30 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_11_dot_02_bar__plus_00_dot_45_bar__plus_03_dot_16 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Book_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_01_dot_14 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Watch_bar__plus_14_dot_09_bar__plus_00_dot_14_bar__plus_00_dot_99 loc_bar_52_bar_2_bar_1_bar_45) + (objectAtLocation Statue_bar__plus_10_dot_65_bar__plus_00_dot_60_bar__plus_00_dot_68 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Book_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_01_dot_83 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 loc_bar_35_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__plus_10_dot_35_bar__plus_00_dot_83_bar__plus_01_dot_05 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 loc_bar_32_bar_11_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__plus_00_dot_89 loc_bar_36_bar_3_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_00_dot_96 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 loc_bar_32_bar__minus_3_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 loc_bar_32_bar_11_bar_3_bar__minus_15) + (objectAtLocation Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_10_dot_46_bar__plus_00_dot_60_bar__plus_00_dot_68 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 loc_bar_52_bar_13_bar_0_bar_30) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 loc_bar_35_bar_4_bar_3_bar_0) + (objectAtLocation Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 loc_bar_54_bar_5_bar_1_bar_0) + (objectAtLocation Laptop_bar__plus_11_dot_45_bar__plus_00_dot_45_bar__plus_03_dot_16 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_14_dot_43_bar__plus_00_dot_76_bar__plus_00_dot_52 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Watch_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_00_dot_78 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 loc_bar_42_bar__minus_3_bar_1_bar_60) + (objectAtLocation Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 loc_bar_47_bar__minus_3_bar_2_bar_0) + (objectAtLocation Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 loc_bar_41_bar__minus_4_bar_2_bar_0) + ) + + + (: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-213/trial_T20190907_070930_131205/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-RemoteControl-None-FloorLamp-213/trial_T20190907_070930_131205/traj_data.json new file mode 100644 index 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"task_id": "trial_T20190907_070930_131205", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_35DR22AR5G1TXLXKA4DDU3I7RD43X0", + "high_descs": [ + "Walk towards the sofa then turn left face the center table", + "Pick up the remote on the table beside the book", + "Turn to your right and head towards the lamp", + "Turn on the lamp" + ], + "task_desc": "Examine the remote by the light", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3OB0CAO74K6XRYUTULOHHBQQCOFHYQ", + "high_descs": [ + "Cross the room and turn left and then turn to face the table with the remote.", + "Pick up the remote from the table.", + "Go right and then turn right again to face the lamp with the pink stand.", + "Turn the lamp on." + ], + "task_desc": "Turn a lamp on with a remote in hand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3PWWM24LHVFEX20TYWNGVUWMUQW82N", + "high_descs": [ + "Walk forward and turn left to face the coffee table with your back to the couch.", + "Pick up the remote from the table.", + "Turn right and go to the lamp in the corner.", + "Turn on the lamp" + ], + "task_desc": "Use lamp light to look at the remote.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_31QTRG6Q2WUP4FSHDYWMQKSHYLBYPA", + "high_descs": [ + "Move to the wooden coffee table facing the remote", + "Pick up the remote on top of the table", + "Carry the remote to the floor lamp in the corner of the room", + "Turn on the lamp" + ], + "task_desc": "Carry a remote while turning on a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_32EYX73OY3QTZJORGP3MSUMJ3FNRUW", + "high_descs": [ + "Walk to the coffee table.", + "Pick up the remote.", + "Go to the lamp in the corner.", + "Turn on the lamp." + ], + "task_desc": "Look at the remote by lamp light.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3OLQQLKKNV6VCZ8SIKF8MLEP7AOEJZ", + "high_descs": [ + "go to the end of the floor rug and turn to the left and go to the middle of the coffee table and turn to the left", + "pick up the remote control from the coffee table", + "turn to the right and go to the end of the floor rug and turn to the right and take a step and turn left and go to the wall and turn right and go to the floor lamp", + "turn on the floor lamp" + ], + "task_desc": "Examine a remote control 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/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..4f8840e18a6f911ff66be511cd426927ff7b455e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/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 alarmclock on desk.\"\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_143604_622776)\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_86_bar__plus_00_dot_67_bar__plus_02_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_57_bar__plus_00_dot_67_bar__plus_02_dot_82 - 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_75_bar__plus_00_dot_07_bar__plus_02_dot_31 - object\n CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 - object\n CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 - object\n CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 - 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_11_bar__minus_00_dot_73 - object\n CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04 - object\n CreditCard_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18 - 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_43_bar__plus_01_dot_88 - object\n Laptop_bar__plus_01_dot_71_bar__plus_00_dot_72_bar__plus_00_dot_24 - 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_60_bar__plus_00_dot_06_bar__plus_02_dot_24 - object\n Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51 - 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_07_bar__plus_02_dot_88 - object\n Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_32 - object\n Pen_bar__plus_01_dot_81_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_16 - object\n Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61 - object\n Pillow_bar__minus_00_dot_73_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_3_bar_6_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 Book_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 BookType)\n (objectType CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 CellPhoneType)\n (objectType Laptop_bar__plus_01_dot_71_bar__plus_00_dot_72_bar__plus_00_dot_24 LaptopType)\n (objectType AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 AlarmClockType)\n (objectType KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 KeyChainType)\n (objectType Pillow_bar__minus_00_dot_73_bar__plus_01_dot_59_bar__minus_00_dot_50 PillowType)\n (objectType CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 CellPhoneType)\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_87_bar__plus_00_dot_68_bar__plus_02_dot_18 CreditCardType)\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_75_bar__plus_00_dot_74_bar__minus_01_dot_32 PencilType)\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 Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61 PillowType)\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_81_bar__plus_00_dot_73_bar__minus_00_dot_26 PenType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51 MugType)\n (objectType Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_16 PenType)\n (objectType CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04 CreditCardType)\n (objectType CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_73 CreditCardType)\n (objectType Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24 MugType)\n (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType)\n (objectType CD_bar__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_31 CDType)\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 CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 CellPhoneType)\n (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 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 Book_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82)\n (pickupable CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13)\n (pickupable Laptop_bar__plus_01_dot_71_bar__plus_00_dot_72_bar__plus_00_dot_24)\n (pickupable AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73)\n (pickupable KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88)\n (pickupable Pillow_bar__minus_00_dot_73_bar__plus_01_dot_59_bar__minus_00_dot_50)\n (pickupable CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13)\n (pickupable CreditCard_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_32)\n (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61)\n (pickupable Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_26)\n (pickupable Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51)\n (pickupable Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (pickupable CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04)\n (pickupable CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_73)\n (pickupable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24)\n (pickupable CD_bar__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_31)\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 CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17)\n (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88)\n (isReceptacleObject Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51)\n (isReceptacleObject Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24)\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_3_bar_6_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51)\n (cleanable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24)\n \n (heatable Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51)\n (heatable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24)\n (coolable Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51)\n (coolable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24)\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_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_60_bar__plus_00_dot_06_bar__plus_02_dot_24 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle CreditCard_bar__minus_00_dot_87_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_00_dot_73_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 Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92)\n (inReceptacle CellPhone_bar__minus_01_dot_00_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 AlarmClock_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 Pen_bar__minus_00_dot_95_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 Book_bar__minus_00_dot_57_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 Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle CellPhone_bar__minus_00_dot_58_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_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 CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04 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 Pen_bar__plus_01_dot_81_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_71_bar__plus_00_dot_72_bar__plus_00_dot_24 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_11_bar__minus_00_dot_73 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78)\n (inReceptacle CellPhone_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 (inReceptacle Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_32 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32)\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_06_bar__plus_02_dot_24 loc_bar_2_bar_7_bar_3_bar_60)\n (objectAtLocation Pencil_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 CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_73 loc_bar_2_bar__minus_1_bar_1_bar_60)\n (objectAtLocation CellPhone_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 Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04 loc_bar_2_bar_11_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 loc_bar_1_bar__minus_3_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_57_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_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_95_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation AlarmClock_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 Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61 loc_bar_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_73_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_58_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_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__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 CreditCard_bar__minus_00_dot_87_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_75_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_1_bar_9_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_75_bar__plus_00_dot_74_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Laptop_bar__plus_01_dot_71_bar__plus_00_dot_72_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51 loc_bar_1_bar__minus_5_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 (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o AlarmClockType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 2", "take alarmclock 1 from dresser 2", "go to desk 2", "move alarmclock 1 to desk 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8435aeebb68e2affa28198ae6b1e9973ff3b771c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/initial_state.pddl @@ -0,0 +1,638 @@ + +(define (problem plan_trial_T20190907_143604_622776) +(: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_86_bar__plus_00_dot_67_bar__plus_02_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_57_bar__plus_00_dot_67_bar__plus_02_dot_82 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_31 - object + CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 - object + CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 - object + CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 - 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_11_bar__minus_00_dot_73 - object + CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04 - object + CreditCard_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18 - 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_43_bar__plus_01_dot_88 - object + Laptop_bar__plus_01_dot_71_bar__plus_00_dot_72_bar__plus_00_dot_24 - 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_60_bar__plus_00_dot_06_bar__plus_02_dot_24 - object + Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51 - 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_07_bar__plus_02_dot_88 - object + Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_32 - object + Pen_bar__plus_01_dot_81_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_16 - object + Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61 - object + Pillow_bar__minus_00_dot_73_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_3_bar_6_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 Book_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 BookType) + (objectType CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 CellPhoneType) + (objectType Laptop_bar__plus_01_dot_71_bar__plus_00_dot_72_bar__plus_00_dot_24 LaptopType) + (objectType AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 AlarmClockType) + (objectType KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 KeyChainType) + (objectType Pillow_bar__minus_00_dot_73_bar__plus_01_dot_59_bar__minus_00_dot_50 PillowType) + (objectType CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 CellPhoneType) + (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType) + (objectType CreditCard_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18 CreditCardType) + (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType) + (objectType Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_32 PencilType) + (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 Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61 PillowType) + (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType) + (objectType Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_26 PenType) + (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType) + (objectType Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51 MugType) + (objectType Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_16 PenType) + (objectType CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04 CreditCardType) + (objectType CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_73 CreditCardType) + (objectType Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24 MugType) + (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType) + (objectType CD_bar__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_31 CDType) + (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 CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 CellPhoneType) + (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88 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) + 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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 Book_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82) + (pickupable CellPhone_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13) + (pickupable Laptop_bar__plus_01_dot_71_bar__plus_00_dot_72_bar__plus_00_dot_24) + (pickupable AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73) + (pickupable KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88) + (pickupable Pillow_bar__minus_00_dot_73_bar__plus_01_dot_59_bar__minus_00_dot_50) + (pickupable CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13) + (pickupable CreditCard_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_32) + (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61) + (pickupable Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_26) + (pickupable Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51) + (pickupable Pen_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_16) + (pickupable CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04) + (pickupable CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_73) + (pickupable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24) + (pickupable CD_bar__minus_00_dot_75_bar__plus_00_dot_07_bar__plus_02_dot_31) + (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 CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17) + (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_07_bar__plus_02_dot_88) + (isReceptacleObject Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51) + (isReceptacleObject Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24) + (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_3_bar_6_bar_0_bar_30) + + (cleanable Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51) + (cleanable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24) + + (heatable Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51) + (heatable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24) + (coolable Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51) + (coolable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle KeyChain_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) + (inReceptacle Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_24 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle CreditCard_bar__minus_00_dot_87_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_00_dot_73_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 Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle CellPhone_bar__minus_01_dot_00_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 AlarmClock_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 Pen_bar__minus_00_dot_95_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 Book_bar__minus_00_dot_57_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 Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle CellPhone_bar__minus_00_dot_58_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_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 CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04 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 Pen_bar__plus_01_dot_81_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_71_bar__plus_00_dot_72_bar__plus_00_dot_24 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_11_bar__minus_00_dot_73 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (inReceptacle CellPhone_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) + (inReceptacle Pencil_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_01_dot_32 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32) + + + (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_06_bar__plus_02_dot_24 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation Pencil_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 CreditCard_bar__plus_01_dot_61_bar__plus_00_dot_11_bar__minus_00_dot_73 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation CellPhone_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 Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_26 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_69_bar__plus_00_dot_50_bar__plus_03_dot_04 loc_bar_2_bar_11_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 loc_bar_1_bar__minus_3_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_57_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_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_95_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation AlarmClock_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 Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_01_dot_61 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_73_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_58_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_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__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_87_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_75_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_1_bar_9_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_75_bar__plus_00_dot_74_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation Laptop_bar__plus_01_dot_71_bar__plus_00_dot_72_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_51 loc_bar_1_bar__minus_5_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 (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o AlarmClockType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..054d81d12d6bac3afacba05f3212fcd0e0950f31 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190907_143604_622776/traj_data.json @@ -0,0 +1,2376 @@ +{ + "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": 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+ "rotation": { + "x": 0.0, + "y": 89.99983, + "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": 1.80782318, + "y": 0.7321528, + "z": -0.256486952 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7ade8b6b", + "position": { + "x": -0.8556821, + "y": 0.6697653, + "z": 2.72851634 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pillow_0dfd6e27", + "position": { + "x": -0.5964906, + "y": 1.58593035, + "z": -1.612616 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_d7daf237", + "position": { + "x": -0.7317453, + "y": 1.58593035, + "z": -0.4963799 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_4ae13037", + "position": { + "x": -0.589910448, + "y": 0.287006766, + "z": 3.12684536 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_268d954a", + "position": { + "x": 1.50244153, + "y": 0.433147073, + "z": 1.88345289 + }, + "rotation": { + "x": 0.0, + "y": 179.999954, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_7ad6fb52", + "position": { + "x": 1.6087718, + "y": 0.106836841, + "z": -0.7318188 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "CD_e7609414", + "position": { + "x": -0.745123148, + "y": 0.0654450953, + "z": 2.307938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_1ecf44c2", + "position": { + "x": -0.589910448, + "y": 0.06886522, + "z": 2.87767076 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": 1.71023023, + "y": 0.724983454, + "z": 0.2360227 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_31b7f025", + "position": { + "x": -0.600201964, + "y": 0.06383839, + "z": 2.235885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2024760241, + "scene_num": 318 + }, + "task_id": "trial_T20190907_143604_622776", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AOWW3URQNRJ6U_31LVTDXBLARQGT1X7BBL17Q0QFTLRD", + "high_descs": [ + "Walk forward and face left looking at the chair.", + "Grab the clock off of the chair.", + "Walk a step the the left and face the front of the desk.", + "Place the clock on the desk." + ], + "task_desc": "Move a clock from a chair to a desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3TAYZSBPLOPWGMF2CUTLCLWN6FBS25", + "high_descs": [ + "Move to the desk with the green book on top of it", + "Pick up the clock that is behind the green book on top of the desk", + "Carry the clock to the desk on your left with the black lamp", + "Place the clock in the front middle of the desk" + ], + "task_desc": "Move a clock from one desk to another desk", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3YZ8UPK3VW3PTHZ8YSDR3ZNX35YUCP", + "high_descs": [ + "go forward to the wall and turn left and step forward to the desk end", + "pick up the clock behind the book that is on the desk end", + "turn to the left and go forward to the middle of the main desk", + "place the clock near the edge of the main desk" + ], + "task_desc": "Put the clock 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_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..94838fd906c3787a839c7e956c4763557ef8b938 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/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 alarmclock in desk.\"\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_021620_491490)\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_63_bar__plus_00_dot_98_bar__minus_01_dot_13 - object\n AlarmClock_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 - object\n AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_90 - object\n AlarmClock_bar__minus_00_dot_95_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__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 - object\n Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 - 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_79 - object\n CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 - object\n CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 - object\n CellPhone_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_72 - 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_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 - object\n CreditCard_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_24 - 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_43_bar__plus_01_dot_88 - object\n Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 - 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_50 - object\n Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25 - object\n Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09 - 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_04 - object\n Pencil_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_02_dot_88 - object\n Pencil_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36 - object\n Pen_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_01 - object\n Pen_bar__minus_00_dot_57_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_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35 - 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_4_bar_7_bar_1_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_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 CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 CDType)\n (objectType Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50 MugType)\n (objectType Pen_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_03_dot_08 PenType)\n (objectType CreditCard_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_24 CreditCardType)\n (objectType KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 KeyChainType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType CellPhone_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_72 CellPhoneType)\n (objectType CreditCard_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_26 CreditCardType)\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 Pencil_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_36 PencilType)\n (objectType Laptop_bar__plus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_63 LaptopType)\n (objectType Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09 MugType)\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_63_bar__plus_00_dot_98_bar__minus_01_dot_51 CDType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 CDType)\n (objectType Book_bar__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 BookType)\n (objectType AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 AlarmClockType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35 PillowType)\n (objectType Pencil_bar__minus_00_dot_64_bar__plus_00_dot_07_bar__plus_02_dot_88 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 Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25 MugType)\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 Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 BookType)\n (objectType AlarmClock_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 AlarmClockType)\n (objectType AlarmClock_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_13 AlarmClockType)\n (objectType Pen_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_01 PenType)\n (objectType AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_90 AlarmClockType)\n (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_04 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 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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 CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79)\n (pickupable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50)\n (pickupable Pen_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (pickupable CreditCard_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_24)\n (pickupable KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88)\n (pickupable CellPhone_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_72)\n (pickupable 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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_3_bar__minus_1_bar_3_bar_30)\n \n (cleanable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50)\n (cleanable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09)\n (cleanable Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25)\n \n (heatable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50)\n (heatable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09)\n (heatable Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25)\n (coolable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50)\n (coolable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09)\n (coolable Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25)\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 Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35 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 KeyChain_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 Book_bar__plus_01_dot_67_bar__plus_00_dot_46_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_75_bar__plus_00_dot_06_bar__plus_02_dot_09 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53)\n (inReceptacle Pencil_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_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 CellPhone_bar__minus_00_dot_87_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 CreditCard_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_24 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_02_dot_90 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle Pen_bar__minus_00_dot_57_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 AlarmClock_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 Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31)\n (inReceptacle AlarmClock_bar__minus_00_dot_63_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 AlarmClock_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 Pencil_bar__minus_00_dot_64_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 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_50 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12)\n (inReceptacle CreditCard_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 CD_bar__plus_02_dot_00_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 Pen_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_01 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 Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_04 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__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_04 loc_bar_1_bar_8_bar_0_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 loc_bar_4_bar_7_bar_1_bar_60)\n (objectAtLocation CreditCard_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 AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_90 loc_bar_1_bar_12_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_57_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_51_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation AlarmClock_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 Pencil_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 CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09 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__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 loc_bar_4_bar_6_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_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_01 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation AlarmClock_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 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_63_bar__plus_01_dot_92_bar__plus_01_dot_35 loc_bar_4_bar_9_bar_3_bar_0)\n (objectAtLocation CellPhone_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_72 loc_bar_1_bar__minus_3_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__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 CreditCard_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_24 loc_bar_1_bar__minus_5_bar_3_bar_45)\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_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_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_64_bar__plus_00_dot_07_bar__plus_02_dot_88 loc_bar_1_bar_7_bar_0_bar_45)\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 Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25 loc_bar_1_bar_12_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 (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o AlarmClockType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 2", "take alarmclock 2 from dresser 2", "go to desk 2", "move alarmclock 2 to desk 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f860dcee19d948a4adc24bf94780c561c22650f7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/initial_state.pddl @@ -0,0 +1,667 @@ + +(define (problem plan_trial_T20190910_021620_491490) +(: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_63_bar__plus_00_dot_98_bar__minus_01_dot_13 - object + AlarmClock_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 - object + AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_90 - object + AlarmClock_bar__minus_00_dot_95_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__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 - object + Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 - object + CD_bar__plus_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 - object + CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 - object + CellPhone_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_72 - 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 + 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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_4_bar_7_bar_1_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_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType 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Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25) + (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 Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_43) + (pickupable AlarmClock_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32) + (pickupable AlarmClock_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_13) + (pickupable Pen_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_01) + (pickupable AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_90) + (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_04) + (isReceptacleObject Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50) + (isReceptacleObject Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09) + (isReceptacleObject Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25) + (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_3_bar__minus_1_bar_3_bar_30) + + (cleanable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50) + (cleanable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09) + (cleanable Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25) + + (heatable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50) + (heatable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09) + (heatable Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25) + (coolable Mug_bar__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50) + (coolable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09) + (coolable Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35 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 KeyChain_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) + (inReceptacle Book_bar__plus_01_dot_67_bar__plus_00_dot_46_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_75_bar__plus_00_dot_06_bar__plus_02_dot_09 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle Pencil_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) + (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 CellPhone_bar__minus_00_dot_87_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 CreditCard_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_24 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_02_dot_90 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Pen_bar__minus_00_dot_57_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 AlarmClock_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 Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle AlarmClock_bar__minus_00_dot_63_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 AlarmClock_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 Pencil_bar__minus_00_dot_64_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 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_50 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle CreditCard_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 CD_bar__plus_02_dot_00_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 Pen_bar__plus_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_01 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 Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_04 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__plus_01_dot_52_bar__plus_00_dot_72_bar__minus_00_dot_50 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_04 loc_bar_1_bar_8_bar_0_bar_60) + (objectAtLocation CD_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_79 loc_bar_4_bar_7_bar_1_bar_60) + (objectAtLocation CreditCard_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 AlarmClock_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_02_dot_90 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_57_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_51_bar__plus_00_dot_68_bar__plus_01_dot_43 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation AlarmClock_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 Pencil_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 CD_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_09 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__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 loc_bar_4_bar_6_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_02_dot_10_bar__plus_00_dot_73_bar__minus_00_dot_01 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation AlarmClock_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 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_63_bar__plus_01_dot_92_bar__plus_01_dot_35 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation CellPhone_bar__minus_00_dot_87_bar__plus_01_dot_50_bar__minus_00_dot_72 loc_bar_1_bar__minus_3_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__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_24 loc_bar_1_bar__minus_5_bar_3_bar_45) + (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_02_dot_00_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_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_64_bar__plus_00_dot_07_bar__plus_02_dot_88 loc_bar_1_bar_7_bar_0_bar_45) + (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 Mug_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_03_dot_25 loc_bar_1_bar_12_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 (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o AlarmClockType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..d6d304434094eb04929540770f1b46804bfecdb6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_021620_491490/traj_data.json @@ -0,0 +1,3141 @@ +{ + "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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"high_descs": [ + "Turn right and walk to the wall then turn left and walk to the table.", + "Pick up the alarm clock to the right of the other alarm clock.", + "Take a step backwards and then take a step left.", + "Put the alarm clock to the right of the book near the edge of the table." + ], + "task_desc": "Put an alarm clock on the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3E1QT0TDFSQI8NEVNZ88IA33JJ58I4", + "high_descs": [ + "Turn right and walk to the alarm clocks on the desk.", + "Pick up the alarm clock closest to the wall.", + "Walk to the left side of the same desk.", + "Put the alarm clock on the desk, to the right of the textbook." + ], + "task_desc": "Move an alarm clock from one end of a desk to the other.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3RGU30DZTDPTON05ZI3RZTJYG1EMJ9", + "high_descs": [ + "Move to the right side of the brown entry way table across from the wood door", + "Pick up the clock sitting on the table that is closest to the wall", + "Carry the clock to the desk with the green book on top of it", + "Place the clock on the desk to the right of the green book" + ], + "task_desc": "Move a clock 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_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3e0986af5d3628d77631d8c1ca8b33c8ee6ebc1b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/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 alarmclock on desk.\"\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_025509_493764)\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_67_bar__plus_00_dot_67_bar__plus_02_dot_90 - object\n AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_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_63_bar__plus_00_dot_98_bar__minus_01_dot_51 - object\n Book_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18 - 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_96_bar__plus_00_dot_68_bar__plus_02_dot_18 - object\n CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31 - 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_58_bar__plus_00_dot_98_bar__minus_01_dot_13 - object\n CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24 - 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_43_bar__plus_01_dot_42 - object\n KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_04 - object\n Laptop_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_24 - 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_75_bar__plus_00_dot_06_bar__plus_02_dot_31 - 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_95_bar__plus_00_dot_67_bar__plus_03_dot_08 - object\n Pen_bar__minus_00_dot_53_bar__plus_00_dot_52_bar__plus_02_dot_09 - 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_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_1_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 KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_42 KeyChainType)\n (objectType AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73 AlarmClockType)\n (objectType CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31 CellPhoneType)\n (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType)\n (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType)\n (objectType KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_04 KeyChainType)\n (objectType AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_90 AlarmClockType)\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 Book_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18 BookType)\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_75_bar__plus_00_dot_06_bar__plus_02_dot_31 MugType)\n (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType)\n (objectType Pencil_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 PencilType)\n (objectType Pen_bar__minus_00_dot_53_bar__plus_00_dot_52_bar__plus_02_dot_09 PenType)\n (objectType Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 BookType)\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 CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24 CreditCardType)\n (objectType CD_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 CDType)\n (objectType CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 CreditCardType)\n (objectType Laptop_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_24 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 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 KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_42)\n (pickupable AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73)\n (pickupable CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31)\n (pickupable KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_04)\n (pickupable AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_90)\n (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72)\n (pickupable Book_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18)\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_75_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (pickupable Pencil_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08)\n (pickupable Pen_bar__minus_00_dot_53_bar__plus_00_dot_52_bar__plus_02_dot_09)\n (pickupable Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51)\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 CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24)\n (pickupable CD_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18)\n (pickupable CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13)\n (pickupable Laptop_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_24)\n (isReceptacleObject Mug_bar__minus_00_dot_75_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_1_bar_12_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_31)\n \n (heatable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_31)\n (coolable Mug_bar__minus_00_dot_75_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 CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32)\n (inReceptacle CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31 Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24)\n (inReceptacle Pen_bar__minus_00_dot_53_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 Mug_bar__minus_00_dot_75_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 Book_bar__minus_00_dot_87_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 CD_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 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 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 AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_90 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97)\n (inReceptacle AlarmClock_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_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_58_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 Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 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_04 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 Laptop_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_24 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 CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24 loc_bar_1_bar__minus_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_04 loc_bar_1_bar__minus_5_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 AlarmClock_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 Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 loc_bar_1_bar__minus_5_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_87_bar__plus_00_dot_68_bar__plus_02_dot_18 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_53_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_67_bar__plus_00_dot_67_bar__plus_02_dot_90 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_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 CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31 loc_bar_1_bar_5_bar_0_bar_45)\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_43_bar__plus_01_dot_42 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_13 loc_bar_1_bar__minus_5_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_96_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_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_95_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_91_bar__plus_00_dot_72_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_75_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 (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o AlarmClockType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 2", "take alarmclock 2 from dresser 2", "go to desk 2", "move alarmclock 2 to desk 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..19255a481c47b89828cfa670a85ce376c173978d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/initial_state.pddl @@ -0,0 +1,623 @@ + +(define (problem plan_trial_T20190910_025509_493764) +(: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_67_bar__plus_00_dot_67_bar__plus_02_dot_90 - object + AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_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_63_bar__plus_00_dot_98_bar__minus_01_dot_51 - object + Book_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31 - 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_58_bar__plus_00_dot_98_bar__minus_01_dot_13 - object + CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24 - 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_43_bar__plus_01_dot_42 - object + KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_04 - object + Laptop_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_24 - 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_75_bar__plus_00_dot_06_bar__plus_02_dot_31 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 - object + Pen_bar__minus_00_dot_53_bar__plus_00_dot_52_bar__plus_02_dot_09 - object + Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 - 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_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_1_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 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 KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_42 KeyChainType) + (objectType 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Book_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18 BookType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType) + (objectType Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_31 MugType) + (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType) + (objectType Pencil_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08 PencilType) + (objectType Pen_bar__minus_00_dot_53_bar__plus_00_dot_52_bar__plus_02_dot_09 PenType) + (objectType Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 BookType) + (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 Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 PillowType) + (objectType 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(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 KeyChain_bar__plus_01_dot_50_bar__plus_00_dot_43_bar__plus_01_dot_42) + (pickupable AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_73) + (pickupable CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31) + (pickupable KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_04) + (pickupable AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_90) + (pickupable Pillow_bar__minus_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72) + (pickupable Book_bar__minus_00_dot_87_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05) + (pickupable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_31) + (pickupable Pencil_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_03_dot_08) + (pickupable Pen_bar__minus_00_dot_53_bar__plus_00_dot_52_bar__plus_02_dot_09) + (pickupable Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51) + (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 CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24) + (pickupable CD_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable CreditCard_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13) + (pickupable Laptop_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_24) + (isReceptacleObject Mug_bar__minus_00_dot_75_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_1_bar_12_bar_0_bar_30) + + (cleanable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_31) + + (heatable Mug_bar__minus_00_dot_75_bar__plus_00_dot_06_bar__plus_02_dot_31) + (coolable Mug_bar__minus_00_dot_75_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 CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32) + (inReceptacle CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31 Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (inReceptacle Pen_bar__minus_00_dot_53_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 Mug_bar__minus_00_dot_75_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 Book_bar__minus_00_dot_87_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 CD_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 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 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 AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_90 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle AlarmClock_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_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_58_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 Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 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_04 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 Laptop_bar__plus_01_dot_91_bar__plus_00_dot_72_bar__plus_00_dot_24 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 CreditCard_bar__minus_00_dot_75_bar__plus_00_dot_09_bar__minus_01_dot_24 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_04 loc_bar_1_bar__minus_5_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 AlarmClock_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 Book_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 loc_bar_1_bar__minus_5_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_87_bar__plus_00_dot_68_bar__plus_02_dot_18 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_53_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_67_bar__plus_00_dot_67_bar__plus_02_dot_90 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_00_dot_60_bar__plus_01_dot_59_bar__minus_00_dot_72 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_63_bar__plus_00_dot_52_bar__plus_02_dot_31 loc_bar_1_bar_5_bar_0_bar_45) + (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_43_bar__plus_01_dot_42 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_13 loc_bar_1_bar__minus_5_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_96_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_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_95_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_91_bar__plus_00_dot_72_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_75_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 (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o AlarmClockType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..45612e0edb4cd7a39661f71bc661cf2872178897 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-Desk-318/trial_T20190910_025509_493764/traj_data.json @@ -0,0 +1,2490 @@ +{ + "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": 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-0.6679342, + "y": 0.6697653, + "z": 2.90210342 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pillow_d7daf237", + "position": { + "x": -0.5964906, + "y": 1.58593035, + "z": -0.719627142 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_e6f8caea", + "position": { + "x": -0.626557052, + "y": 0.981944859, + "z": -1.50998282 + }, + "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": -0.532160163, + "y": 0.521727443, + "z": 2.09440637 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_7ade8b6b", + "position": { + "x": -0.8556821, + "y": 0.66993475, + "z": 2.72851634 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "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": -0.630683839, + "y": 0.517912745, + "z": 2.30547523 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_268d954a", + "position": { + "x": -0.5848998, + "y": 0.978594959, + "z": -1.040612 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_7ad6fb52", + "position": { + "x": -0.7519537, + "y": 0.09487852, + "z": -1.2372129 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_e7609414", + "position": { + "x": -0.9616492, + "y": 0.6773067, + "z": 2.17795134 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "Pencil_1ecf44c2", + "position": { + "x": -0.949557245, + "y": 0.67284447, + "z": 3.075689 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Laptop_425b94ea", + "position": { + "x": 1.90541613, + "y": 0.7245, + "z": 0.236022666 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_31b7f025", + "position": { + "x": -0.745123148, + "y": 0.06383839, + "z": 2.307938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2330181946, + "scene_num": 318 + }, + "task_id": "trial_T20190910_025509_493764", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1P0XSCJ9XAV74_308Q0PEVBBUIMSX5SREMI6YE3OC9IH", + "high_descs": [ + "Turn to your left then straight and back around to face the alarm clocks on the table.", + "Pick up the alarm clock towards the back.", + "Turn left with the alarm clock and walk straight and turn right facing the desk.", + "Place the alarm clock on the desk in the front." + ], + "task_desc": "Take an alarm clock to move it to the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A4CHLWPHZIP7Y_3OLQQLKKNV6VCZ8SIKF8MLEP71OJEM", + "high_descs": [ + "Turn around, turn right, and face the brown table.", + "Pick up the clock on the left from the brown table.", + "Turn left and go to the brown desk next to the brown table.", + "Put the clock on the brown desk." + ], + "task_desc": "Put one clock on the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3ZWFC4W1UXO4G1R1L08N6ULGTJ5FR0", + "high_descs": [ + "Turn around towards the alarm clocks on the desk.", + "Pick up the alarm clock which is closest to the wall.", + "Walk to the left side of the desk, by the chair.", + "Put the alarm clock on the front of the desk, to the right of the chair." + ], + "task_desc": "Move an alarm clock from one end of a desk to the other.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-SideTable-329/trial_T20190909_013608_170798/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-SideTable-329/trial_T20190909_013608_170798/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..4a74d6d91911e4381152d08f518508d8e28fad4e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-SideTable-329/trial_T20190909_013608_170798/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 alarmclock 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_013608_170798)\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_59_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 - object\n BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 - object\n Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 - object\n Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 - object\n Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72 - object\n Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 - object\n CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55 - object\n CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55 - object\n CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40 - object\n CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21 - object\n CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21 - object\n CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45 - object\n CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35 - object\n KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 - object\n KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42 - object\n KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37 - object\n Lamp_bar__plus_00_dot_92_bar__plus_00_dot_67_bar__minus_02_dot_46 - object\n Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66 - object\n Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66 - object\n LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 - object\n Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 - object\n Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51 - object\n Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object\n Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60 - object\n Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42 - object\n Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33 - object\n Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91 - object\n Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68 - object\n Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21 - object\n Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 - object\n Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 - object\n Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 - receptacle\n DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 - receptacle\n Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle\n Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 - receptacle\n Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle\n Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 - receptacle\n GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 - receptacle\n SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 - receptacle\n SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 - receptacle\n loc_bar_8_bar__minus_8_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location\n loc_bar_8_bar_0_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_15 - location\n loc_bar__minus_4_bar_0_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_0_bar_3_bar_30 - location\n loc_bar_5_bar__minus_5_bar_2_bar_45 - location\n loc_bar_2_bar_1_bar_0_bar_45 - location\n loc_bar_4_bar__minus_8_bar_3_bar_0 - location\n loc_bar_5_bar__minus_6_bar_2_bar_60 - location\n loc_bar_8_bar_2_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_8_bar_2_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_30 - location\n loc_bar_1_bar_1_bar_0_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 SideTableType)\n (receptacleType Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 BedType)\n (receptacleType Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 SideTableType)\n (receptacleType Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 DiningTableType)\n (receptacleType GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 DrawerType)\n (objectType Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 PaintingType)\n (objectType AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 AlarmClockType)\n (objectType Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33 PencilType)\n (objectType CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45 CreditCardType)\n (objectType CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 CDType)\n (objectType LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 LightSwitchType)\n (objectType Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 MirrorType)\n (objectType CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21 CellPhoneType)\n (objectType Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51 MugType)\n (objectType Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60 PencilType)\n (objectType Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68 PenType)\n (objectType Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21 PillowType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType)\n (objectType CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40 CellPhoneType)\n (objectType Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 MugType)\n (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91 PenType)\n (objectType Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66 LaptopType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType)\n (objectType CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21 CellPhoneType)\n (objectType KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42 KeyChainType)\n (objectType KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37 KeyChainType)\n (objectType CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 CreditCardType)\n (objectType Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42 PencilType)\n (objectType Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72 BookType)\n (objectType CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35 CreditCardType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType)\n (objectType KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 KeyChainType)\n (objectType Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66 LaptopType)\n (objectType CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55 CDType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 BlindsType)\n (objectType BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 BaseballBatType)\n (objectType Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 BoxType)\n (objectType AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_76 AlarmClockType)\n (objectType CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55 CDType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\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 LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\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 (canContain SideTableType PenType)\n (canContain SideTableType BookType)\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 LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType 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 DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType CDType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType BaseballBatType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType 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 (pickupable AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33)\n (pickupable CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45)\n (pickupable CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21)\n (pickupable Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51)\n (pickupable Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (pickupable Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68)\n (pickupable Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21)\n (pickupable CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40)\n (pickupable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (pickupable Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91)\n (pickupable Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66)\n (pickupable CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21)\n (pickupable KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42)\n (pickupable KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37)\n (pickupable CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42)\n (pickupable Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72)\n (pickupable CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35)\n (pickupable KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99)\n (pickupable Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66)\n (pickupable CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55)\n (pickupable BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04)\n (pickupable Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04)\n (pickupable AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55)\n (isReceptacleObject Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51)\n (isReceptacleObject Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04)\n (openable 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Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39)\n (inReceptacle CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39)\n (inReceptacle Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39)\n (inReceptacle CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar_5_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 loc_bar_5_bar__minus_6_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 loc_bar__minus_4_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 loc_bar_8_bar_2_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_2_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40 loc_bar_5_bar__minus_6_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 loc_bar_8_bar_2_bar_1_bar_30)\n (objectAtLocation Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 loc_bar_2_bar_1_bar_0_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 loc_bar_1_bar_1_bar_0_bar_30)\n (objectAtLocation Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 loc_bar_4_bar__minus_8_bar_3_bar_0)\n (objectAtLocation AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_2_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 loc_bar__minus_4_bar_0_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 loc_bar__minus_4_bar_0_bar_3_bar__minus_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 AlarmClockType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take alarmclock 1 from diningtable 1", "go to sidetable 1", "move alarmclock 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-SideTable-329/trial_T20190909_013608_170798/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-SideTable-329/trial_T20190909_013608_170798/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9e51611eb2789871c27594354ac1a9dda18484ba --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-SideTable-329/trial_T20190909_013608_170798/initial_state.pddl @@ -0,0 +1,515 @@ + +(define (problem plan_trial_T20190909_013608_170798) +(: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_59_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 - object + BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 - object + Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 - object + Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 - object + Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72 - object + Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 - object + CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55 - object + CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55 - object + CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40 - object + CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21 - object + CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21 - object + CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45 - object + CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35 - object + KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 - object + KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42 - object + KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37 - object + Lamp_bar__plus_00_dot_92_bar__plus_00_dot_67_bar__minus_02_dot_46 - object + Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66 - object + Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66 - object + LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 - object + Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 - object + Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51 - object + Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object + Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60 - object + Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42 - object + Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33 - object + Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91 - object + Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21 - object + Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 - object + Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 - object + Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 - receptacle + DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 - receptacle + Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle + Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 - receptacle + Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 - receptacle + Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 - receptacle + GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 - receptacle + SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 - receptacle + SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 - receptacle + loc_bar_8_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_8_bar_0_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_0_bar_3_bar_30 - location + loc_bar_5_bar__minus_5_bar_2_bar_45 - location + loc_bar_2_bar_1_bar_0_bar_45 - location + loc_bar_4_bar__minus_8_bar_3_bar_0 - location + loc_bar_5_bar__minus_6_bar_2_bar_60 - location + loc_bar_8_bar_2_bar_0_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_8_bar_2_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_30 - location + loc_bar_1_bar_1_bar_0_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 SideTableType) + (receptacleType Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 BedType) + (receptacleType Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 DrawerType) + (receptacleType SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 SideTableType) + (receptacleType Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 DrawerType) + (receptacleType DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 DiningTableType) + (receptacleType GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 DrawerType) + (objectType Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 PaintingType) + (objectType AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 AlarmClockType) + (objectType Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33 PencilType) + (objectType CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45 CreditCardType) + (objectType CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 CDType) + (objectType LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 LightSwitchType) + (objectType Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 MirrorType) + (objectType CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21 CellPhoneType) + (objectType Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51 MugType) + (objectType Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60 PencilType) + (objectType Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68 PenType) + (objectType Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21 PillowType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType) + (objectType CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40 CellPhoneType) + (objectType Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 MugType) + (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91 PenType) + (objectType Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66 LaptopType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType) + (objectType CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21 CellPhoneType) + (objectType KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42 KeyChainType) + (objectType KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37 KeyChainType) + (objectType CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 CreditCardType) + (objectType Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42 PencilType) + (objectType Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72 BookType) + (objectType CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35 CreditCardType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType) + (objectType KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 KeyChainType) + (objectType Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66 LaptopType) + (objectType CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55 CDType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 BlindsType) + (objectType BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 BaseballBatType) + (objectType Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 BoxType) + (objectType AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_76 AlarmClockType) + (objectType CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55 CDType) + (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 LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (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 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 LaptopType) + (canContain SideTableType PencilType) + (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 DiningTableType PenType) + (canContain DiningTableType BookType) + (canContain DiningTableType CDType) + (canContain DiningTableType MugType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType BaseballBatType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType 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) + (pickupable AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99) + (pickupable Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33) + (pickupable CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45) + (pickupable CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21) + (pickupable Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51) + (pickupable Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60) + (pickupable Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68) + (pickupable Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21) + (pickupable CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40) + (pickupable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07) + (pickupable Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91) + (pickupable Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66) + (pickupable CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21) + (pickupable KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42) + (pickupable KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37) + (pickupable CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42) + (pickupable Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72) + (pickupable CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35) + (pickupable KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99) + (pickupable Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66) + (pickupable CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55) + (pickupable BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04) + (pickupable Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04) + (pickupable AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55) + (isReceptacleObject Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51) + (isReceptacleObject Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07) + (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04) + (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39) + (openable Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39) + + (atLocation agent1 loc_bar_3_bar__minus_1_bar_1_bar_30) + + (cleanable Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51) + (cleanable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07) + + (heatable Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51) + (heatable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07) + (coolable Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51) + (coolable Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07) + + + + + + + + (inReceptacle CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39) + (inReceptacle CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39) + (inReceptacle Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39) + (inReceptacle CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35 Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39) + + + (receptacleAtLocation Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_00_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar_5_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39 loc_bar_5_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_20_bar__plus_00_dot_17_bar__minus_02_dot_39 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_20_bar__plus_00_dot_46_bar__minus_02_dot_39 loc_bar__minus_4_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_47_bar__plus_00_dot_00_bar__plus_00_dot_97 loc_bar_8_bar_2_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47 loc_bar_8_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_17_bar__plus_00_dot_67_bar__minus_02_dot_51 loc_bar_8_bar__minus_8_bar_3_bar_60) + (objectAtLocation CD_bar__minus_01_dot_09_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_25_bar__plus_00_dot_37_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_2_bar_2_bar_30) + (objectAtLocation CellPhone_bar__minus_00_dot_30_bar__plus_00_dot_56_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_14_bar__plus_00_dot_68_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_25_bar__plus_00_dot_08_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CreditCard_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pencil_bar__minus_01_dot_26_bar__plus_00_dot_69_bar__minus_02_dot_33 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_04_bar__plus_00_dot_38_bar__minus_02_dot_40 loc_bar_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Mirror_bar__plus_02_dot_64_bar__plus_01_dot_35_bar__plus_00_dot_39 loc_bar_8_bar_2_bar_1_bar_30) + (objectAtLocation Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 loc_bar_8_bar_0_bar_1_bar_60) + (objectAtLocation Book_bar__plus_00_dot_11_bar__plus_00_dot_61_bar__plus_00_dot_72 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_37 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation BaseballBat_bar__plus_00_dot_42_bar__plus_00_dot_67_bar__plus_01_dot_04 loc_bar_2_bar_1_bar_0_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_56_bar__minus_01_dot_21 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_29_bar__plus_00_dot_37_bar__minus_02_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_33_bar__plus_01_dot_26_bar__plus_01_dot_15 loc_bar_1_bar_1_bar_0_bar_30) + (objectAtLocation Pen_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_25_bar__plus_00_dot_55_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 loc_bar_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation AlarmClock_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CD_bar__minus_01_dot_38_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_2_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 loc_bar__minus_4_bar_0_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 loc_bar__minus_4_bar__minus_2_bar_2_bar__minus_30) + (objectAtLocation Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 loc_bar__minus_4_bar_0_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o AlarmClockType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-AlarmClock-None-SideTable-329/trial_T20190909_013608_170798/traj_data.json 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", + "Pick up the alarm clock that is closest to the front of the desk. ", + "Turn to the left, walk to the wall, turn to the left again and walk up to the nightstand. ", + "Place the alarm clock down on the nightstand between the two CDs." + ], + "task_desc": "Move an alarm clock to the nightstand. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3N2BF7Y2VTL5I6RD7QPNO2NLXFNHML", + "high_descs": [ + "Turn around then head to the desk top against the wall ", + "Pick up the clock on top of the desk", + "Carry the clock over to the night stand to the right of the bed", + "Place the clock in the night stand between the CDs" + ], + "task_desc": "Moe a clock to the night stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3PPTZCWALTBIU6PZ552B5IBV360QZ6", + "high_descs": [ + "Turn around and walk to the desk on the right. ", + "Pick up the alarm clock to the left of the CD. ", + "Turn left, turn left at the window, walk to the night stand to the right of the bed. ", + "Put the alarm clock on the night stand in between the two CD's. " + ], + "task_desc": "Move the alarm clock to the night stand. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190906_235928_630179/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190906_235928_630179/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0277b457f7d080ba3e0f491c7fd2289df0c3fdbb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190906_235928_630179/initial_state.pddl @@ -0,0 +1,897 @@ + +(define (problem plan_trial_T20190906_235928_630179) +(: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 + 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- 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 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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_86_bar__plus_01_dot_26_bar__plus_01_dot_24 - object + Apple_bar__minus_01_dot_52_bar__plus_01_dot_37_bar__minus_03_dot_09 - object + 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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__minus_15 - 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__minus_3_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 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SaltShaker_bar__minus_01_dot_68_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 Cup_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Plate_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_85 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Bowl_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_02_dot_76 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__plus_00_dot_77_bar__plus_01_dot_40_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_01_dot_52_bar__plus_01_dot_40_bar__minus_02_dot_87 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_00_dot_77 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 Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Pot_bar__plus_00_dot_90_bar__plus_01_dot_33_bar__minus_02_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Potato_bar__minus_01_dot_66_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_02_dot_05_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 Knife_bar__plus_00_dot_35_bar__plus_01_dot_35_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__plus_00_dot_51_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 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 Spatula_bar__plus_00_dot_77_bar__plus_01_dot_34_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle WineBottle_bar__minus_01_dot_79_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 Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__minus_02_dot_18_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__minus_01_dot_52_bar__plus_01_dot_37_bar__minus_03_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Cup_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_01 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_32 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_42_bar__minus_00_dot_56 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43) + (inReceptacle Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_09 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (inReceptacle DishSponge_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_01_dot_22 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (inReceptacle DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (inReceptacle Tomato_bar__plus_01_dot_11_bar__plus_01_dot_24_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Apple_bar__plus_00_dot_86_bar__plus_01_dot_26_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle Egg_bar__plus_00_dot_93_bar__plus_01_dot_99_bar__plus_01_dot_55 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Potato_bar__plus_01_dot_02_bar__plus_01_dot_80_bar__plus_02_dot_29 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Tomato_bar__plus_01_dot_02_bar__plus_01_dot_71_bar__plus_01_dot_55 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Bowl_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_00_dot_97 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_11 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Tomato_bar__minus_01_dot_70_bar__plus_01_dot_08_bar__minus_00_dot_54 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"z": 1.00736094 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": 1.0170449, + "y": 1.70904112, + "z": 1.54570937 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": -1.6980927, + "y": 1.08497071, + "z": -0.542232633 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_eef34b87", + "position": { + "x": -1.3086729, + "y": 1.32130814, + "z": -2.76001024 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_dd060264", + "position": { + "x": 0.766335964, + "y": 1.39739525, + "z": -2.794527 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_dd060264", + "position": { + "x": -1.52276421, + "y": 1.39739525, + "z": -2.870881 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": 0.9286004, + "y": 2.0238204, + "z": 2.11180878 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": -1.52276421, + "y": 1.37188375, + "z": -3.09262371 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": -1.92006814, + "y": 1.37188375, + "z": -2.981163 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_dd060264", + "position": { + "x": -2.04982066, + "y": 1.39739525, + "z": -2.72122478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_930b560d", + "position": { + "x": -0.6309, + "y": 1.3317, + "z": -3.3019 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + }, + { + "objectName": "Knife_bee62bfa", + "position": { + "x": 0.349309921, + "y": 1.35270047, + "z": -3.12197924 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_eef34b87", + "position": { + "x": 1.18117619, + "y": 1.30871868, + "z": 0.965037942 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Potato_e8912d85", + "position": { + "x": 1.01704478, + "y": 1.79697371, + "z": 2.28940654 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_cf9afd50", + "position": { + "x": -1.56123328, + "y": 0.4227631, + "z": -0.561244547 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_61df51be", + "position": { + "x": -1.66056263, + "y": 1.32354856, + "z": 0.770108938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_f306e730", + "position": { + "x": -2.09335637, + "y": 1.33170331, + "z": -1.11794019 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_299f2c2a", + "position": { + "x": -1.691, + "y": 1.31039894, + "z": -3.156 + }, + "rotation": { + "x": 0.0, + "y": 150.0004, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c718722", + "position": { + "x": -1.76220548, + "y": 1.09187412, + "z": -0.633444369 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9d168802", + "position": { + "x": -0.2394, + "y": 1.3317, + "z": -3.3019 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": -1.6817342, + "y": 0.338814139, + "z": 0.311763644 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_560d3534", + "position": { + "x": -1.79031563, + "y": 1.32392883, + "z": -1.68147337 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": 0.5068307, + "y": 1.39912164, + "z": -1.68329394 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": 0.766335964, + "y": 1.33799994, + "z": -0.942471862 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": 1.19326913, + "y": 1.31208539, + "z": 1.23849058 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": 1.11029458, + "y": 1.241721, + "z": 1.23849058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": 0.824245334, + "y": 0.345585465, + "z": -1.85446763 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": -1.61458409, + "y": 0.338814139, + "z": 1.317281 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.73021924, + "y": 0.4221356, + "z": -1.2177 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -2.179573, + "y": 1.32412946, + "z": -2.461287 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 0.8613707, + "y": 1.25668371, + "z": 1.23849058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": 0.965999663, + "y": 1.3713994, + "z": -1.53499949 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1444593445, + "scene_num": 3 + }, + "task_id": "trial_T20190906_235928_630179", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_386PBUZZXIE9I5IKZ62CZG49FDYJLB", + "high_descs": [ + "turn left and walk forwards to the wooden kitchen counter, then turn right and walk forwards to the kitchen stove in front", + "grab the knife to off the counter to the left of the kitchen stove", + "turn right and walk forwards to the kitchen counter with the toaster", + "cut the bread to the left of the toaster", + "move to the right a bit and face the counter to the left of the kitchen sink", + "open the cabinet below the kitchen counter on the left and place the knife inside", + "move to the left a bit and face the kitchen counter", + "grab a slice of bread off of the counter there", + "turn right and walk to the end of the room, then hang a right and move to the microwave at the other end of the room", + "place the bread on the counter in front of the microwave" + ], + "task_desc": "place a slice of bread in front of the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3PS7W85Z82J8V6DGM3DQWD0NDNF9TK", + "high_descs": [ + "Go straight to the left side of the stove top.", + "Take the knife on the counter to the left of the stove top.", + "Turn right, go to the counter with the toaster.", + "Slice the bread on the left of the toaster.", + "Step back from the counter.", + "Open the cabinet under the counter, put the knife in the cabinet on the right.", + "Go forward to the counter.", + "Take a piece of sliced bread.", + "Turn around, go across the room and bear left to the stand with the microwave next to the fridge.", + "Put the bread to the right of the apple on the stand." + ], + "task_desc": "Put a slice of bread on a stand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3JZLYQ606HJJR_3ZSANO2JCIOGHGRE0P8SW4QCE0JSFP", + "high_descs": [ + "Move across the room until you reach the stove.", + "Pick up the knife that is on the counter on the left side of the stove.", + "Turn to the right and move forward until you see the toaster. ", + "Slice the bread that is near the toaster. ", + "Move to the left until you see the black cabinet that is under the counter where the toaster is located. ", + "Open the cabinet and place the knife inside. ", + "Move back to the counter top with the sliced bread. ", + "Pick up a slice of bread off of the counter top. ", + "Move across the room to the microwave.", + "Place the bread on the table near the microwave and apples. " + ], + "task_desc": "Pick up knife to slice bread - take bread to the microwave to be warmed.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000233_574076/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000233_574076/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..39252edeaad03ac21f734f5a58e6fbd017f4a5dd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000233_574076/initial_state.pddl @@ -0,0 +1,909 @@ + +(define (problem plan_trial_T20190907_000233_574076) +(: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_49_bar__plus_01_dot_37_bar__minus_02_dot_90 - object + Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_23 - object + Bowl_bar__plus_00_dot_87_bar__plus_01_dot_52_bar__plus_01_dot_79 - object + Bread_bar__minus_01_dot_38_bar__plus_01_dot_40_bar__minus_03_dot_31 - object + Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_45 - object + Bread_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__plus_00_dot_77 - 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_55 - object + Cup_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__minus_01_dot_76 - object + Cup_bar__minus_02_dot_00_bar__plus_01_dot_33_bar__minus_01_dot_26 - object + DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_74_bar__plus_00_dot_68 - object + DishSponge_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_26 - object + DishSponge_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Egg_bar__plus_01_dot_12_bar__plus_01_dot_35_bar__plus_00_dot_86 - object + Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_86 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_90_bar__plus_01_dot_32_bar__minus_00_dot_94 - object + Fork_bar__plus_00_dot_98_bar__plus_00_dot_46_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__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Knife_bar__plus_00_dot_77_bar__plus_01_dot_35_bar__minus_01_dot_68 - object + Knife_bar__minus_01_dot_74_bar__plus_01_dot_36_bar__minus_01_dot_12 - object + Lettuce_bar__plus_01_dot_02_bar__plus_01_dot_83_bar__plus_02_dot_29 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_01_dot_02 - object + Mug_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + Pan_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_42 - object + PaperTowelRoll_bar__minus_01_dot_68_bar__plus_00_dot_38_bar__plus_02_dot_15 - object + PepperShaker_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_02_dot_90 - object + PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_36 - object + Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + Potato_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_01_dot_02 - object + Potato_bar__minus_02_dot_09_bar__plus_01_dot_37_bar__minus_00_dot_91 - object + Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Pot_bar__minus_02_dot_05_bar__plus_01_dot_33_bar__plus_02_dot_07 - object + SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_71 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_02_dot_11 - object + SoapBottle_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_76 - object + SoapBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_21 - object + Spatula_bar__minus_01_dot_56_bar__plus_01_dot_34_bar__minus_00_dot_91 - object + Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__plus_01_dot_09 - object + Spatula_bar__minus_01_dot_79_bar__plus_01_dot_34_bar__minus_02_dot_72 - object + Spoon_bar__plus_00_dot_98_bar__plus_00_dot_95_bar__plus_00_dot_98 - object + Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 - object + Spoon_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_50 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + 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location + loc_bar__minus_3_bar_2_bar_0_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 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Knife_bar__plus_00_dot_77_bar__plus_01_dot_35_bar__minus_01_dot_68 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 Pan_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle DishSponge_bar__minus_01_dot_89_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 Kettle_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 Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (inReceptacle 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loc_bar_0_bar_1_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation Apple_bar__plus_00_dot_49_bar__plus_01_dot_37_bar__minus_02_dot_90 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object + ?ko - object) + (and + (sliceable ?o) + (isSliced ?o) + (objectType ?o BreadType) + (inReceptacle ?o ?r) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000233_574076/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000233_574076/traj_data.json new file mode 100644 index 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"z": -2.981163 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 0.492037773, + "y": 1.37188375, + "z": -2.90023613 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_dd060264", + "position": { + "x": -1.38003659, + "y": 1.39739525, + "z": -3.31436586 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_930b560d", + "position": { + "x": -0.125, + "y": 1.3324, + "z": -2.973 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_bee62bfa", + "position": { + "x": 0.766335964, + "y": 1.35270047, + "z": -1.68329394 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_eef34b87", + "position": { + "x": 0.869437337, + "y": 1.52282739, + "z": 1.78658581 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_e8912d85", + "position": { + "x": -2.09335637, + "y": 1.37405932, + "z": -0.9118071 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_cf9afd50", + "position": { + "x": -1.5869925, + "y": 0.280376852, + "z": 2.110548 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_61df51be", + "position": { + "x": 0.9837873, + "y": 0.4608485, + "z": 1.05492294 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_f306e730", + "position": { + "x": -2.00441241, + "y": 1.3340168, + "z": -1.25536227 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_299f2c2a", + "position": { + "x": -0.749, + "y": 1.3324, + "z": -2.973 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c718722", + "position": { + "x": 1.21390212, + "y": 1.351235, + "z": 0.861989737 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pan_9d168802", + "position": { + "x": -1.66056263, + "y": 1.32260954, + "z": 1.4197371 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": -1.602987, + "y": 0.338814139, + "z": -2.162692 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_560d3534", + "position": { + "x": -1.23730922, + "y": 1.32392883, + "z": -3.42523718 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": 1.01704478, + "y": 1.83334172, + "z": 2.28940654 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": -1.55969191, + "y": 1.343986, + "z": -0.9118071 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": -1.68100739, + "y": 0.3844704, + "z": 2.151774 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": 1.01704478, + "y": 1.70904112, + "z": 1.78130639 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": -1.74942863, + "y": 0.344428062, + "z": 0.5126284 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": 0.277946, + "y": 1.31800008, + "z": -2.90023613 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.727323, + "y": 0.343378425, + "z": -2.26237869 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": 0.9818125, + "y": 0.954413533, + "z": 0.983438134 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": -1.61049628, + "y": 0.32906872, + "z": 2.23422623 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": 1.14845026, + "y": 1.3054105, + "z": 1.0165621 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1267014518, + "scene_num": 3 + }, + "task_id": "trial_T20190907_000233_574076", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_3DIP6YHAPF96SIC9RGIHXV5BQ7DE8D", + "high_descs": [ + "Turn around, go to the sink on the right.", + "Take the knife from the sink rack.", + "Turn left, go to the counter to the right of the stove top.", + "Slice the bread next to the bottle on the counter.", + "Turn around, bear right across the room to the stand with the microwave next to the fridge.", + "Put the knife on the left side of the stand.", + "Turn right, bear straight and right and go back to the counter to the right of the stove top.", + "Take a slice of bread from the counter.", + "Turn around, bear right across the room to the stand with the microwave next to the fridge.", + "Put the slice of bread to the left of the knife on the stand." + ], + "task_desc": "Put a slice of bread on a stand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3IGI0VL64A1D7GC2RWAWK4PKJYDNOX", + "high_descs": [ + "Turn left and walk to the sink.", + "Pick up the knife to the left of the sink.", + "Turn left and walk to the corner of the counter.", + "Cut the bread on the counter with the knife.", + "Turn around and veer right to the microwave.", + "Put the knife on the counter in front and to the left of the microwave.", + "Turn around and walk forward back to the corner of the counter.", + "Pick up a piece of sliced bread.", + "Turn around and walk back to the microwave.", + "Put the bread on the counter in front of the knife." + ], + "task_desc": "Place a sliced piece of bread on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3SNLUL3WO74IWLTEB56Q6IDKWVFUL5", + "high_descs": [ + "Turn left and walk over to the kitchen sink", + "Pick up the knife from the left side of the kitchen sink", + "Turn left and walk up to the counter just right of the stove", + "Use the knife to slice the bread on the counter in front of you", + "Turn around and walk over to the dark cabinet by the fridge", + "Put the knife down on top of the left side of the cabinet", + "Turn right and walk back to the counter just right of the stove", + "Pick up a slice of bread from the counter", + "Turn around and walk over to the dark cabinet by the fridge", + "Put the bread slice on top of the cabinet next to the knife" + ], + "task_desc": "Put the knife and bread slice on the dark cabinet", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000313_868459/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000313_868459/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e84061572a96803764d76f170413467beece7cc6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000313_868459/initial_state.pddl @@ -0,0 +1,900 @@ + +(define (problem plan_trial_T20190907_000313_868459) +(: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_77_bar__plus_01_dot_37_bar__minus_03_dot_16 - object + Apple_bar__plus_01_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_86 - object + Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_02_dot_07 - object + Bowl_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_02_dot_68 - object + Bowl_bar__plus_00_dot_56_bar__plus_01_dot_32_bar__minus_03_dot_12 - object + Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_21 - object + Bread_bar__minus_01_dot_24_bar__plus_01_dot_40_bar__minus_03_dot_20 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_46_bar__plus_00_dot_65 - object + DishSponge_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_01_dot_94 - object + DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_01_dot_15 - object + Egg_bar__plus_00_dot_98_bar__plus_01_dot_72_bar__plus_01_dot_55 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 - object + Fork_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + 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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_4_bar__minus_2_bar_3_bar_45 - 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_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar_0_bar__minus_3_bar_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 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(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 Fork_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_30 ForkType) + (objectType Bowl_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_02_dot_68 BowlType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Egg_bar__plus_00_dot_98_bar__plus_01_dot_72_bar__plus_01_dot_55 EggType) + (objectType Mug_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_87 MugType) + (objectType SaltShaker_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_01_dot_96 SaltShakerType) + (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType) + (objectType Potato_bar__minus_01_dot_40_bar__plus_01_dot_36_bar__minus_03_dot_24 PotatoType) + (objectType 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Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_02_dot_07 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 Mug_bar__plus_00_dot_56_bar__plus_01_dot_32_bar__minus_03_dot_34 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spatula_bar__plus_00_dot_77_bar__plus_01_dot_34_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle WineBottle_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_76 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SoapBottle_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__plus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_28_bar__plus_01_dot_43_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Tomato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_01_dot_24_bar__plus_01_dot_40_bar__minus_03_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Pot_bar__minus_01_dot_79_bar__plus_01_dot_33_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PepperShaker_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle Fork_bar__minus_01_dot_65_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 DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_01_dot_15 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (inReceptacle 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GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Plate_bar__minus_01_dot_83_bar__plus_01_dot_06_bar__minus_00_dot_54 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin) + (inReceptacleObject Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 Plate_bar__minus_01_dot_83_bar__plus_01_dot_06_bar__minus_00_dot_54) + + + (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 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loc_bar_0_bar__minus_4_bar_1_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_90_bar__plus_00_dot_46_bar__plus_00_dot_65 loc_bar__minus_1_bar_0_bar_1_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_34 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Apple_bar__plus_00_dot_77_bar__plus_01_dot_37_bar__minus_03_dot_16 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_87 loc_bar__minus_4_bar_5_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object + ?ko - object) + (and + (sliceable ?o) + (isSliced ?o) + (objectType ?o BreadType) + (inReceptacle ?o ?r) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-BreadSliced-None-SideTable-3/trial_T20190907_000313_868459/traj_data.json 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"turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_34YB12FSQ15JXLA4RCIO2GRINQ9GM8", + "high_descs": [ + "walk forwards to the kitchen stove, then turn left to face the kitchen countertop", + "grab a knife off of the kitchen counter", + "turn around and walk to the other kitchen counter, then turn left to face the stove", + "slice the loaf of bread on top of the kitchen counter", + "turn around and walk forwards a bit", + "place the knife on top of the kitchen counter in front of the sink to the left", + "turn around and walk forwards a bit to the kitchen stove again", + "grab a slice of bread off of the kitchen counter", + "turn around and walk to the end of the room, then hang a right turn and walk forwards to the microwave", + "place the sliced loaf of bread in front of the microwave" + ], + "task_desc": "place a sliced loaf of bread in front of the microwave", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3RAYNQWYF8NVO_3UOUJI6MTGVDWFA3PO9EHC87325XU6", + "high_descs": [ + "Move across the room to the stove then turn left.", + "Pick up the knife on the counter beside the blue bowl. ", + "Turn around and go to the right side of the stove then turn left.", + "Slice the bread on the counter.", + "Move across the room to the sink ", + "Stick the knife in front of the sink.", + "Go across the room to the sliced bread beside the stove.", + "Pick up a slice of bread from the counter.", + "Turn around and go across the room to the microwave.", + "Put down the sliced bread in front of the microwave." + ], + "task_desc": "Cut a slice of bread, put it in front of the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3VHP9MDGRQ10AZ2I33ISHZMUS0XCFL", + "high_descs": [ + "Go forward until you reach the stove, then turn to the left.", + "Pick up the knife, near the metal bottle.", + "Turn around, go straight until you reach the counter with the toaster, then turn right to face the counter next to the stove.", + "Slice the bread on the counter.", + "Turn around to face the wall.", + "Place the knife on the counter, in front of the sink.", + "Turn around to face the counter behind you.", + "Pick up a slice of bread from the counter.", + "Turn around, go straight, then turn right to go to the microwave.", + "Put the bread slice on the counter with the microwave, on the left, front corner." + ], + "task_desc": "Put a slice of bread on a counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052248_516834/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052248_516834/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..827395a8800890f5229211d1901705d867f9bd9b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052248_516834/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some candle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_052248_516834)\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_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object\n Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87 - object\n Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 - object\n Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97 - object\n Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26 - object\n Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object\n Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object\n HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object\n Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object\n ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object\n ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object\n SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93 - object\n SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90 - object\n SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90 - object\n SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11 - object\n SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72 - object\n SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 - object\n SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72 - object\n TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11 - object\n ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object\n ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 - object\n Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object\n Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle\n GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle\n HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle\n Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle\n Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle\n Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle\n Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle\n TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n loc_bar_1_bar__minus_7_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location\n loc_bar_2_bar__minus_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType)\n (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType)\n (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType)\n (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType)\n (objectType Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87 CandleType)\n (objectType Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26 ClothType)\n (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType)\n (objectType SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90 SoapBottleType)\n (objectType SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72 SprayBottleType)\n (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType)\n (objectType SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBottleType)\n (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90 SoapBottleType)\n (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType)\n (objectType Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 ToiletPaperType)\n (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType)\n (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType)\n (objectType Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 CandleType)\n (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType)\n (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType)\n (objectType SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72 SprayBottleType)\n (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType)\n (objectType SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93 SoapBarType)\n (objectType SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 SprayBottleType)\n (objectType Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19 CandleType)\n (objectType TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11 TissueBoxType)\n (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType 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 TissueBoxType)\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 TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 ToiletType TissueBoxType)\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 TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87)\n (pickupable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26)\n (pickupable SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90)\n (pickupable SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72)\n (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11)\n (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11)\n (pickupable SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90)\n (pickupable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97)\n (pickupable ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78)\n (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04)\n (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89)\n (pickupable Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08)\n (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72)\n (pickupable SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93)\n (pickupable SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93)\n (pickupable Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11)\n \n \n \n (atLocation agent1 loc_bar_2_bar__minus_6_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26)\n (cleanable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97)\n (cleanable SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00)\n (inReceptacle Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00)\n (inReceptacle SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take candle 1 from shelf 1", "go to toilet 1", "move candle 1 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052248_516834/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052248_516834/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1c719ef3b231d0e687724adf3ea9445370389f75 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052248_516834/initial_state.pddl @@ -0,0 +1,442 @@ + +(define (problem plan_trial_T20190908_052248_516834) +(: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_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87 - object + Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 - object + Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97 - object + Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93 - object + SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90 - object + SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90 - object + SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11 - object + SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72 - object + SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 - object + SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72 - object + TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar_2_bar__minus_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (objectType Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87 CandleType) + (objectType Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26 ClothType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90 SoapBottleType) + (objectType SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72 SprayBottleType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBottleType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90 SoapBottleType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 ToiletPaperType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 CandleType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72 SprayBottleType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93 SoapBarType) + (objectType SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 SprayBottleType) + (objectType Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19 CandleType) + (objectType TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11 TissueBoxType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (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) + (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 ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87) + (pickupable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26) + (pickupable SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90) + (pickupable SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90) + (pickupable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97) + (pickupable ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72) + (pickupable SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93) + (pickupable SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93) + (pickupable Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11) + + + + (atLocation agent1 loc_bar_2_bar__minus_6_bar_3_bar_30) + + (cleanable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26) + (cleanable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97) + (cleanable SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_03_dot_26 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_05_bar__plus_00_dot_96_bar__minus_03_dot_90 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_90 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_97 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_93 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_93 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CandleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052248_516834/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052248_516834/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..51151b6b9af431c23d4c767fe172c95e4e263d21 --- /dev/null +++ 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+ "position": { + "x": 0.684140265, + "y": -0.00058028847, + "z": -3.90567446 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4154340024, + "scene_num": 429 + }, + "task_id": "trial_T20190908_052248_516834", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1SX8IVV82M0LW_33IZTU6J84IXH2IZ0JEE2BQJJF8SXU", + "high_descs": [ + "Turn around to the table behind you.", + "Grab a candle off the table.", + "Go to the left of the toilet.", + "Place the candle on the left side of the toilet." + ], + "task_desc": "Move a candle from the table to the toilet.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3WAKVUDHUZXJH04C7B5GNDVJ2KO7U6", + "high_descs": [ + "Turn around to white cabinet", + "pick up candle in holder from white cabinet", + "turn right, go to right side of toilet", + "place candle in holder on right side of toilet tank" + ], + "task_desc": "place candle in holder on toilet tank", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A19LVWX8ZLO6CS_3Y54SXRO1O26FY1JKE8HS9N1RHITU7", + "high_descs": [ + "Turn left, step forward, then turn left to face a bathroom shelf.", + "Pick up the nail polish that is on the shelf.", + "Turn around and head towards the bathtub, then hang left, go to the waste basket and turn left to face the toilet.", + "Place the nail polish on the top shelf of the toilet to the right of the dispenser." + ], + "task_desc": "Move the nail polish from the shelf to the toilet.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2e75bc87ad51f26c28a7ebbd821586603d404791 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/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 candle 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_052308_217335)\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_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object\n Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22 - object\n Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 - object\n Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object\n Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object\n HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object\n Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object\n ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object\n ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object\n SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 - object\n SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93 - object\n SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11 - object\n SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93 - object\n SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 - object\n SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 - object\n SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 - object\n TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 - object\n ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90 - object\n ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 - object\n Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object\n Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle\n GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle\n HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle\n Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle\n Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle\n Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle\n Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle\n TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n loc_bar_1_bar__minus_7_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType)\n (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType)\n (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType)\n (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType)\n (objectType SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93 SoapBarType)\n (objectType TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 TissueBoxType)\n (objectType ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBarType)\n (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType)\n (objectType SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBottleType)\n (objectType Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType)\n (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType)\n (objectType Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32 CandleType)\n (objectType SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 SprayBottleType)\n (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType)\n (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 ToiletPaperType)\n (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType)\n (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType)\n (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType)\n (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType)\n (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22 CandleType)\n (objectType SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 SprayBottleType)\n (objectType SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93 SoapBottleType)\n (objectType SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 SoapBottleType)\n (objectType SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 SprayBottleType)\n (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType 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 TissueBoxType)\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 TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 ToiletType TissueBoxType)\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 TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93)\n (pickupable TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36)\n (pickupable ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90)\n (pickupable SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11)\n (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52)\n (pickupable SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11)\n (pickupable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68)\n (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11)\n (pickupable Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32)\n (pickupable SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82)\n (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89)\n (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22)\n (pickupable SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98)\n (pickupable SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93)\n (pickupable SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77)\n (pickupable SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14)\n \n \n \n (atLocation agent1 loc_bar__minus_3_bar__minus_3_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93)\n (cleanable SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11)\n (cleanable SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52)\n (cleanable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00)\n (inReceptacle SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00)\n (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take candle 1 from shelf 2", "go to toilet 1", "move candle 1 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c756dba78118dd3de29bb986d1b8757e184a19c2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/initial_state.pddl @@ -0,0 +1,448 @@ + +(define (problem plan_trial_T20190908_052308_217335) +(: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_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32 - object + Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22 - object + Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 - object + SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93 - object + SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11 - object + SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93 - object + SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 - object + SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 - object + TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 - object + ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (objectType SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93 SoapBarType) + (objectType TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 TissueBoxType) + (objectType ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBarType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBottleType) + (objectType Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32 CandleType) + (objectType SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 SprayBottleType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 ToiletPaperType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22 CandleType) + (objectType SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 SprayBottleType) + (objectType SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93 SoapBottleType) + (objectType SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 SoapBottleType) + (objectType SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 SprayBottleType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (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) + (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 ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93) + (pickupable TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36) + (pickupable ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90) + (pickupable SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52) + (pickupable SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11) + (pickupable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32) + (pickupable SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22) + (pickupable SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98) + (pickupable SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93) + (pickupable SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77) + (pickupable SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14) + + + + (atLocation agent1 loc_bar__minus_3_bar__minus_3_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93) + (cleanable SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11) + (cleanable SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52) + (cleanable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_73_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_93 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_93 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_86_bar__plus_00_dot_82_bar__minus_00_dot_22 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_52 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_90 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CandleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..dc8ed7c4e4cf1c35b87ee563e7aafe44e229e344 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Toilet-429/trial_T20190908_052308_217335/traj_data.json @@ -0,0 +1,2629 @@ +{ + "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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"object_toggles": [], + "random_seed": 804622501, + "scene_num": 429 + }, + "task_id": "trial_T20190908_052308_217335", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A255A9FFZD8PQW_3P1L2B7AD46NJG9HFJUH7CLVFIZLOA", + "high_descs": [ + "Turn around completely and walk towards the white shelf. Step to the right.", + "Pick up the bottle of nail polish. ", + "Turn complete around and walk forward. Make a left at the bath tub. Then turn right and face the toilet. ", + "Place the nail polish on the back end of the toilet. " + ], + "task_desc": "Move the nail polish to the back of the toilet. ", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3M0BCWMB8YDJBGW7FSWXA32C6QPBWU", + "high_descs": [ + "turn around, walk forward to white shelf, take a step to the left", + "pick up the bottle of nail polish that is on the shelf", + "turn around, walk towards sink, turn left before the tub, walk forward, turn left to face toilet", + "put the bottle of nail polish on the back of the toilet" + ], + "task_desc": "move nail polish to the back of the toilet", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3X87C8JFV92LTU3LAD839PESHJOSQC", + "high_descs": [ + "Turn around and walk to the left white dresser.", + "Pick up the gold candle holder with the candle in front of the box of tissues on the dresser.", + "Turn around and walk to the white toilet on the left.", + "Place the candle holder with the candle on the far right side of the toilet tank." + ], + "task_desc": "Place a candle holder with a candle on a toilet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cd570603564a42fec0aea765b4c8d4ff785e0ff7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/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 cellphone on safe.\"\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_122723_141074)\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_45_bar__plus_00_dot_84_bar__minus_02_dot_11 - object\n AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_70 - object\n AlarmClock_bar__minus_01_dot_27_bar__plus_00_dot_79_bar__minus_00_dot_81 - object\n Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 - object\n Book_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 - object\n Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39 - object\n Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69 - object\n CD_bar__plus_00_dot_42_bar__plus_00_dot_37_bar__plus_01_dot_26 - object\n CD_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_44 - object\n CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39 - object\n CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_52 - object\n CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 - object\n Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 - object\n CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24 - object\n CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22 - object\n CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_34 - object\n DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 - object\n HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 - object\n KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33 - object\n KeyChain_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61 - object\n Laptop_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__minus_01_dot_70 - object\n LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 - object\n Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 - object\n Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 - object\n Pencil_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_44 - object\n Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 - object\n Pen_bar__minus_00_dot_59_bar__plus_00_dot_84_bar__minus_01_dot_93 - object\n Pen_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 - object\n Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 - object\n TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 - object\n TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 - object\n Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 - object\n Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 - receptacle\n Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 - receptacle\n Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 - receptacle\n Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 - receptacle\n Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 - receptacle\n GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 - receptacle\n Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 - receptacle\n SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 - receptacle\n SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 - receptacle\n loc_bar_0_bar__minus_5_bar_2_bar_15 - location\n loc_bar_0_bar__minus_5_bar_3_bar_60 - location\n loc_bar_2_bar_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar__minus_1_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15 - location\n loc_bar_0_bar_3_bar_0_bar_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_1_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_3_bar_2_bar_3_bar_15 - location\n loc_bar__minus_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_15 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_3_bar_15 - location\n loc_bar_1_bar__minus_5_bar_1_bar_0 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_3_bar_0_bar_60 - location\n loc_bar_4_bar_2_bar_1_bar_60 - location\n loc_bar__minus_2_bar_5_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 ShelfType)\n (receptacleType GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 BedType)\n (receptacleType SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 SideTableType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 ShelfType)\n (receptacleType Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 SafeType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 DrawerType)\n (receptacleType SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 SideTableType)\n (objectType Book_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 BookType)\n (objectType AlarmClock_bar__minus_00_dot_45_bar__plus_00_dot_84_bar__minus_02_dot_11 AlarmClockType)\n (objectType Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 PillowType)\n (objectType Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 PaintingType)\n (objectType AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_70 AlarmClockType)\n (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_84_bar__minus_01_dot_93 PenType)\n (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 ChairType)\n (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69 BowlType)\n (objectType CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_52 CellPhoneType)\n (objectType CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39 CellPhoneType)\n (objectType Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39 BowlType)\n (objectType KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33 KeyChainType)\n (objectType KeyChain_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61 KeyChainType)\n (objectType TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 TeddyBearType)\n (objectType CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24 CreditCardType)\n (objectType CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_34 CreditCardType)\n (objectType LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 LightSwitchType)\n (objectType CD_bar__plus_00_dot_42_bar__plus_00_dot_37_bar__plus_01_dot_26 CDType)\n (objectType Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 PenType)\n (objectType TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 TennisRacketType)\n (objectType DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 DeskLampType)\n (objectType Pencil_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_44 PencilType)\n (objectType CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22 CreditCardType)\n (objectType HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 HousePlantType)\n (objectType CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 CellPhoneType)\n (objectType Laptop_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__minus_01_dot_70 LaptopType)\n (objectType AlarmClock_bar__minus_01_dot_27_bar__plus_00_dot_79_bar__minus_00_dot_81 AlarmClockType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 WindowType)\n (objectType CD_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_44 CDType)\n (objectType Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 BlindsType)\n (objectType Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 MirrorType)\n (objectType Pen_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 PenType)\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 BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\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 AlarmClockType)\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 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 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 SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType BowlType)\n (canContain ShelfType 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Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n \n (atLocation agent1 loc_bar__minus_2_bar_5_bar_0_bar_30)\n \n (cleanable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69)\n (cleanable Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39)\n \n \n (coolable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69)\n (coolable Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35)\n \n \n \n \n (inReceptacle Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90)\n (inReceptacle TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90)\n (inReceptacle CD_bar__plus_00_dot_42_bar__plus_00_dot_37_bar__plus_01_dot_26 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23)\n (inReceptacle CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle Book_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Laptop_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__minus_01_dot_70 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_70 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Pencil_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_44 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle AlarmClock_bar__minus_01_dot_27_bar__plus_00_dot_79_bar__minus_00_dot_81 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Pen_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Pen_bar__minus_00_dot_59_bar__plus_00_dot_84_bar__minus_01_dot_93 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04)\n (inReceptacle HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04)\n (inReceptacle AlarmClock_bar__minus_00_dot_45_bar__plus_00_dot_84_bar__minus_02_dot_11 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04)\n (inReceptacle CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_34 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34)\n (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_52 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60)\n (inReceptacle CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60)\n (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60)\n (inReceptacle KeyChain_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34)\n (inReceptacle KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33 Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 loc_bar__minus_1_bar_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 loc_bar_1_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar_3_bar_3_bar_0_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 loc_bar_0_bar__minus_5_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_44 loc_bar_4_bar_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22 loc_bar__minus_1_bar_1_bar_0_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_45_bar__plus_00_dot_84_bar__minus_02_dot_11 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33 loc_bar_2_bar_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 loc_bar__minus_2_bar__minus_2_bar_3_bar_15)\n (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 loc_bar_0_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 loc_bar_0_bar_3_bar_0_bar_30)\n (objectAtLocation Pencil_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_44 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_84_bar__minus_01_dot_93 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (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)\n (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)\n (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)\n (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_52 loc_bar__minus_2_bar__minus_2_bar_3_bar_15)\n (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)\n (objectAtLocation KeyChain_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15)\n (objectAtLocation DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_27_bar__plus_00_dot_79_bar__minus_00_dot_81 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_34 loc_bar_0_bar__minus_5_bar_3_bar_15)\n (objectAtLocation Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 loc_bar__minus_3_bar_2_bar_3_bar_15)\n (objectAtLocation CD_bar__plus_00_dot_42_bar__plus_00_dot_37_bar__plus_01_dot_26 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 loc_bar_0_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15)\n (objectAtLocation Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 loc_bar_0_bar__minus_5_bar_2_bar__minus_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 CellPhoneType)\n (receptacleType ?r SafeType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 4", "take cellphone 3 from shelf 4", "go to safe 1", "open safe 1", "move cellphone 3 to safe 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9ddb8a170f763f666cfb26ef637fb299b6b821c0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/initial_state.pddl @@ -0,0 +1,562 @@ + +(define (problem plan_trial_T20190908_122723_141074) +(: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_45_bar__plus_00_dot_84_bar__minus_02_dot_11 - object + AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_70 - object + AlarmClock_bar__minus_01_dot_27_bar__plus_00_dot_79_bar__minus_00_dot_81 - object + Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 - object + Book_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 - object + Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39 - object + Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69 - object + CD_bar__plus_00_dot_42_bar__plus_00_dot_37_bar__plus_01_dot_26 - object + CD_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_44 - object + CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39 - object + CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_52 - object + CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 - object + CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24 - object + CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22 - object + CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_34 - 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_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33 - object + KeyChain_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61 - object + Laptop_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__minus_01_dot_70 - 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_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_44 - object + Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 - object + Pen_bar__minus_00_dot_59_bar__plus_00_dot_84_bar__minus_01_dot_93 - object + Pen_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 - 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__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_4_bar_2_bar_1_bar_60 - location + loc_bar__minus_2_bar_5_bar_0_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 Book_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 BookType) + (objectType AlarmClock_bar__minus_00_dot_45_bar__plus_00_dot_84_bar__minus_02_dot_11 AlarmClockType) + (objectType Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 PillowType) + (objectType Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 PaintingType) + (objectType AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_70 AlarmClockType) + (objectType Pen_bar__minus_00_dot_59_bar__plus_00_dot_84_bar__minus_01_dot_93 PenType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 ChairType) + (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69 BowlType) + (objectType CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_52 CellPhoneType) + (objectType CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39 CellPhoneType) + (objectType Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39 BowlType) + (objectType KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33 KeyChainType) + (objectType KeyChain_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61 KeyChainType) + (objectType TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 TeddyBearType) + (objectType CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24 CreditCardType) + (objectType CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_34 CreditCardType) + (objectType LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 LightSwitchType) + (objectType CD_bar__plus_00_dot_42_bar__plus_00_dot_37_bar__plus_01_dot_26 CDType) + (objectType Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 PenType) + (objectType TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 TennisRacketType) + (objectType DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 DeskLampType) + (objectType Pencil_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_44 PencilType) + (objectType CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22 CreditCardType) + (objectType HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 HousePlantType) + (objectType CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 CellPhoneType) + (objectType Laptop_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__minus_01_dot_70 LaptopType) + (objectType AlarmClock_bar__minus_01_dot_27_bar__plus_00_dot_79_bar__minus_00_dot_81 AlarmClockType) + (objectType Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 WindowType) + (objectType CD_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_44 CDType) + (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 Pen_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 PenType) + (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 BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (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) + (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 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 SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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 DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType 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Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69) + (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_52) + (pickupable CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39) + (pickupable Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39) + (pickupable KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33) + (pickupable KeyChain_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61) + (pickupable TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06) + (pickupable CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24) + (pickupable CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_34) + (pickupable CD_bar__plus_00_dot_42_bar__plus_00_dot_37_bar__plus_01_dot_26) + (pickupable Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30) + (pickupable TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07) + (pickupable Pencil_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_44) + (pickupable CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22) + (pickupable CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87) + (pickupable Laptop_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__minus_01_dot_70) + (pickupable AlarmClock_bar__minus_01_dot_27_bar__plus_00_dot_79_bar__minus_00_dot_81) + (pickupable CD_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_44) + (pickupable Pen_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31) + (isReceptacleObject Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69) + (isReceptacleObject Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39) + (openable Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23) + (openable Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44) + (openable 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Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23) + (inReceptacle CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle Book_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + 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Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60) + (inReceptacle KeyChain_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34) + (inReceptacle KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33 Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44) + + + (receptacleAtLocation Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 loc_bar__minus_1_bar_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 loc_bar_1_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar_3_bar_3_bar_0_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 loc_bar_0_bar__minus_5_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15) + (receptacleAtLocation SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_3_bar_4_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_39 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CD_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_44 loc_bar_4_bar_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_36_bar__plus_00_dot_08_bar__plus_01_dot_22 loc_bar__minus_1_bar_1_bar_0_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_45_bar__plus_00_dot_84_bar__minus_02_dot_11 loc_bar_0_bar__minus_4_bar_2_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_33 loc_bar_2_bar_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_39 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_26_bar__plus_00_dot_79_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_25_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_81_bar__plus_00_dot_80_bar__minus_01_dot_31 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 loc_bar__minus_2_bar__minus_2_bar_3_bar_15) + (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 loc_bar_0_bar__minus_5_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 loc_bar_0_bar_3_bar_0_bar_30) + (objectAtLocation Pencil_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_44 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 loc_bar_0_bar__minus_4_bar_2_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__minus_01_dot_70 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_59_bar__plus_00_dot_84_bar__minus_01_dot_93 loc_bar_0_bar__minus_4_bar_2_bar_45) + (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__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_52 loc_bar__minus_2_bar__minus_2_bar_3_bar_15) + (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__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_61 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15) + (objectAtLocation DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_27_bar__plus_00_dot_79_bar__minus_00_dot_81 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_34 loc_bar_0_bar__minus_5_bar_3_bar_15) + (objectAtLocation Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 loc_bar__minus_3_bar_2_bar_3_bar_15) + (objectAtLocation CD_bar__plus_00_dot_42_bar__plus_00_dot_37_bar__plus_01_dot_26 loc_bar__minus_2_bar_2_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 loc_bar_0_bar__minus_5_bar_2_bar_15) + (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_69 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15) + (objectAtLocation Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 loc_bar_0_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CellPhoneType) + (receptacleType ?r SafeType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4073b65048881082cc051929e86bbb20076824eb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122723_141074/traj_data.json @@ -0,0 +1,3577 @@ +{ + "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 + 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+ "objectName": "Pillow_da1ea79b", + "position": { + "x": 1.215812, + "y": 0.641, + "z": -1.66376066 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_d9c0f745", + "position": { + "x": 0.0728965253, + "y": 0.682838142, + "z": 1.39327765 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_227ff109", + "position": { + "x": 1.69322217, + "y": 0.0396303572, + "z": 0.3281662 + }, + "rotation": { + "x": 0.0, + "y": -0.000121235847, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_0d0b6904", + "position": { + "x": -0.4505362, + "y": 0.838089347, + "z": -2.10723472 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f9bfaad4", + "position": { + "x": 0.362012684, + "y": 0.08264768, + "z": 1.215028 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_53aad5ee", + "position": { + "x": 1.693222, + "y": 0.03908998, + "z": 0.435000151 + }, + "rotation": { + "x": 0.0, + "y": -0.000121235847, + "z": 0.0 + } + }, + { + "objectName": "Bowl_069b5b86", + "position": { + "x": -0.981928349, + "y": 0.794492066, + "z": -0.3859492 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 865440636, + "scene_num": 302 + }, + "task_id": "trial_T20190908_122723_141074", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_33LKR6A5KHBYRQWJEYNEIT26AUF1TR", + "high_descs": [ + "Turn right, go to the table with the phone.", + "Pick up the phone on the table. ", + "Bring the phone to the safe next to the bed. ", + "Put the phone in the safe next to the bed. " + ], + "task_desc": "Put a phone in the safe next to the bed. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3OVHNO1VE9SO5XLU0JWR5J4WKMUZDJ", + "high_descs": [ + "Turn right and walk up to the wooden end table with the lamp on it.", + "Pick up the phone off of the end table.", + "Turn right and walk forward, then hang a left and walk up to the small white safe on the ground.", + "Open the safe and put the phone inside, then close the safe." + ], + "task_desc": "Put a phone in a safe.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3PJ71Z61R7TF7BN5GSIXRT1UGNJ19Y", + "high_descs": [ + "Turn right to face the nightstand with the lamp on it.", + "Pick up the cell phone from the nightstand.", + "Turn right and move forward, then turn left to go to the safe next to the bed.", + "Put the cell phone in the safe." + ], + "task_desc": "Put a cell phone inside of the safe.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..afa094c6b883051c8904f37d998e45c7e4847c65 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/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 cellphone on safe.\"\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_122741_565733)\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_98_bar__plus_00_dot_79_bar__minus_01_dot_24 - object\n Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 - object\n Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 - object\n Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57 - object\n Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60 - object\n Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57 - object\n Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78 - object\n Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 - object\n CD_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 - object\n CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78 - object\n CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04 - object\n Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 - object\n CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35 - object\n CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64 - object\n DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 - object\n HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 - object\n KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60 - object\n KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38 - object\n KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39 - object\n Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17 - object\n Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_65 - object\n LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 - object\n Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 - object\n Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 - object\n Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21 - object\n Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57 - object\n Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67 - object\n Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 - object\n TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 - object\n TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 - object\n Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 - object\n Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 - receptacle\n Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 - receptacle\n Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 - receptacle\n Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 - receptacle\n Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 - receptacle\n GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 - receptacle\n Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 - receptacle\n SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 - receptacle\n SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 - receptacle\n loc_bar_0_bar__minus_5_bar_2_bar_15 - location\n loc_bar_0_bar__minus_5_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_60 - location\n loc_bar_2_bar_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar__minus_1_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15 - location\n loc_bar_0_bar_3_bar_0_bar_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_1_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_3_bar_2_bar_3_bar_15 - location\n loc_bar__minus_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_15 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_3_bar_15 - location\n loc_bar_1_bar__minus_5_bar_1_bar_0 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_3_bar_0_bar_60 - location\n loc_bar_0_bar__minus_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 ShelfType)\n (receptacleType GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 BedType)\n (receptacleType SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 SideTableType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 ShelfType)\n (receptacleType Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 SafeType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 DrawerType)\n (receptacleType SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 SideTableType)\n (objectType Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 PillowType)\n (objectType Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 PaintingType)\n (objectType Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57 BowlType)\n (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 ChairType)\n (objectType CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78 CDType)\n (objectType Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 BookType)\n (objectType CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04 CellPhoneType)\n (objectType CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35 CreditCardType)\n (objectType TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 TeddyBearType)\n (objectType Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57 PencilType)\n (objectType Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67 PenType)\n (objectType Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57 BookType)\n (objectType CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64 CreditCardType)\n (objectType KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39 KeyChainType)\n (objectType LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 LightSwitchType)\n (objectType KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38 KeyChainType)\n (objectType Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60 BookType)\n (objectType TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 TennisRacketType)\n (objectType DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 DeskLampType)\n (objectType Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21 PencilType)\n (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 BowlType)\n (objectType HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 HousePlantType)\n (objectType CD_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 CDType)\n (objectType KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60 KeyChainType)\n (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78 BowlType)\n (objectType AlarmClock_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_01_dot_24 AlarmClockType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 WindowType)\n (objectType Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_65 LaptopType)\n (objectType Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 BlindsType)\n (objectType Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 MirrorType)\n (objectType Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17 LaptopType)\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 BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\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 AlarmClockType)\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 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 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 SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\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 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 SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\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 AlarmClockType)\n (pickupable Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66)\n (pickupable Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57)\n (pickupable CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78)\n (pickupable Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37)\n (pickupable CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04)\n (pickupable CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35)\n (pickupable TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06)\n (pickupable Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57)\n (pickupable Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67)\n (pickupable Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57)\n (pickupable CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64)\n (pickupable KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39)\n (pickupable KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38)\n (pickupable Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60)\n (pickupable TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07)\n (pickupable Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21)\n (pickupable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34)\n (pickupable CD_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60)\n (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60)\n (pickupable 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TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90)\n (inReceptacle Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90)\n (inReceptacle DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle AlarmClock_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_01_dot_24 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64 SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68)\n (inReceptacle HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04)\n (inReceptacle CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04)\n (inReceptacle CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60)\n (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60)\n (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34)\n (inReceptacle KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38 Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44)\n (inReceptacle KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60 Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 loc_bar__minus_1_bar_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 loc_bar_1_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar_3_bar_3_bar_0_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 loc_bar_0_bar__minus_5_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15)\n (objectAtLocation CD_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_1_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 loc_bar_0_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 loc_bar_0_bar_3_bar_0_bar_30)\n (objectAtLocation Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_65 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (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)\n (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)\n (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)\n (objectAtLocation CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (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)\n (objectAtLocation KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60 loc_bar_2_bar_3_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_01_dot_24 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 loc_bar__minus_3_bar_2_bar_3_bar_15)\n (objectAtLocation CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78 loc_bar__minus_2_bar__minus_2_bar_3_bar_15)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 loc_bar_0_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15)\n (objectAtLocation Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 loc_bar_0_bar__minus_5_bar_2_bar__minus_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 CellPhoneType)\n (receptacleType ?r SafeType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 5", "take cellphone 1 from shelf 5", "go to safe 1", "open safe 1", "move cellphone 1 to safe 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4e772ddfcadce26ed842d338fb2639c30b67bbd5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/initial_state.pddl @@ -0,0 +1,560 @@ + +(define (problem plan_trial_T20190908_122741_565733) +(: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_98_bar__plus_00_dot_79_bar__minus_01_dot_24 - object + Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 - object + Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 - object + Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57 - object + Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60 - object + Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57 - object + Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78 - object + Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 - object + CD_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 - object + CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78 - object + CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 - object + CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35 - object + CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64 - 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_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60 - object + KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38 - object + KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39 - object + Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17 - object + Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_65 - 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__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21 - object + Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57 - object + Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67 - 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__minus_2_bar__minus_2_bar_3_bar_60 - location + loc_bar_2_bar_3_bar_1_bar_60 - 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_0_bar__minus_2_bar_0_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 Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 PillowType) + (objectType Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 PaintingType) + (objectType Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57 BowlType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 ChairType) + (objectType CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78 CDType) + (objectType Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 BookType) + (objectType CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04 CellPhoneType) + (objectType CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35 CreditCardType) + (objectType TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 TeddyBearType) + (objectType Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57 PencilType) + (objectType Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67 PenType) + (objectType Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57 BookType) + (objectType CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64 CreditCardType) + (objectType KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39 KeyChainType) + (objectType LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 LightSwitchType) + (objectType KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38 KeyChainType) + (objectType Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60 BookType) + (objectType TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 TennisRacketType) + (objectType DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 DeskLampType) + (objectType Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21 PencilType) + (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 CD_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 CDType) + (objectType KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60 KeyChainType) + (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78 BowlType) + (objectType AlarmClock_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_01_dot_24 AlarmClockType) + (objectType Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 WindowType) + (objectType Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_65 LaptopType) + (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 Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17 LaptopType) + (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 BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (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) + (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 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 SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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 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 Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66) + (pickupable Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57) + (pickupable CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78) + (pickupable Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37) + (pickupable CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04) + (pickupable CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35) + (pickupable TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06) + (pickupable Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57) + (pickupable Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67) + (pickupable Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57) + (pickupable CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64) + (pickupable KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39) + (pickupable KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38) + (pickupable Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60) + (pickupable TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07) + (pickupable Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21) + (pickupable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34) + (pickupable CD_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60) + (pickupable KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60) + (pickupable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78) + (pickupable AlarmClock_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_01_dot_24) + (pickupable Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_65) + (pickupable Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17) + (isReceptacleObject Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57) + (isReceptacleObject Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34) + (isReceptacleObject Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78) + (openable Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23) + (openable Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44) + (openable Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + + (atLocation agent1 loc_bar_0_bar__minus_2_bar_0_bar_30) + + (cleanable Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57) + (cleanable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34) + (cleanable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78) + + + (coolable Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57) + (coolable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34) + (coolable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78) + + + (toggleable DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35) + + + + + (inReceptacle Pillow_bar__plus_01_dot_22_bar__plus_00_dot_64_bar__minus_01_dot_66 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90) + (inReceptacle Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90) + (inReceptacle Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_65 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90) + (inReceptacle TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90) + (inReceptacle Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90) + (inReceptacle DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle AlarmClock_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_01_dot_24 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64 SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68) + (inReceptacle HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04) + (inReceptacle CellPhone_bar__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04) + (inReceptacle CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60) + (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60) + (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34) + (inReceptacle KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38 Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44) + (inReceptacle KeyChain_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60 Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44) + + + (receptacleAtLocation Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 loc_bar__minus_1_bar_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 loc_bar_1_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar_3_bar_3_bar_0_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 loc_bar_0_bar__minus_5_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15) + (receptacleAtLocation SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_3_bar_4_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_34 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15) + (objectAtLocation CD_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_07_bar__plus_00_dot_68_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_39 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_17 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Book_bar__plus_01_dot_68_bar__plus_00_dot_58_bar__minus_01_dot_37 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_96_bar__plus_00_dot_79_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_75_bar__plus_00_dot_04_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 loc_bar_0_bar__minus_5_bar_3_bar_60) + (objectAtLocation Book_bar__minus_01_dot_19_bar__plus_00_dot_79_bar__minus_00_dot_60 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 loc_bar_0_bar_3_bar_0_bar_30) + (objectAtLocation Pencil_bar__plus_00_dot_15_bar__plus_00_dot_68_bar__plus_01_dot_21 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 loc_bar_0_bar__minus_4_bar_2_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_95_bar__plus_00_dot_57_bar__minus_00_dot_65 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_19_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar__minus_1_bar__minus_3_bar_3_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__minus_00_dot_72_bar__plus_00_dot_84_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45) + (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_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_60 loc_bar_2_bar_3_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_98_bar__plus_00_dot_79_bar__minus_01_dot_24 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_37_bar__plus_00_dot_68_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 loc_bar__minus_3_bar_2_bar_3_bar_15) + (objectAtLocation CD_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_00_dot_78 loc_bar__minus_2_bar__minus_2_bar_3_bar_15) + (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 loc_bar_0_bar__minus_5_bar_2_bar_15) + (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_00_dot_78 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15) + (objectAtLocation Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 loc_bar_0_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CellPhoneType) + (receptacleType ?r SafeType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..daacc440698b4e906fd86010d69d43e1451fdcb6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122741_565733/traj_data.json @@ -0,0 +1,3591 @@ +{ + "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 + 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}, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_d9c0f745", + "position": { + "x": -0.720868051, + "y": 0.838723361, + "z": -2.038 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_227ff109", + "position": { + "x": -1.05271828, + "y": 0.7931985, + "z": -0.3859492 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_0d0b6904", + "position": { + "x": -0.981928349, + "y": 0.794255555, + "z": -1.24318719 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f9bfaad4", + "position": { + "x": 0.0728965253, + "y": 0.680996, + "z": 1.3481698 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_53aad5ee", + "position": { + "x": -0.981928349, + "y": 0.79265815, + "z": -0.6002587 + }, + "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": 904216509, + "scene_num": 302 + }, + "task_id": "trial_T20190908_122741_565733", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3R19ZA45J8915_3FE7TXL1LLESOVMNGYTXI71OISIQ25", + "high_descs": [ + "Turn around, walk up to the window, then turn right to face the desk.", + "Pick up the cell phone that is sitting on the desk.", + "Turn right, walk to the nightstand, then turn right again and walk up to the safe that is on the floor. ", + "Place the cell phone in the safe and close the door." + ], + "task_desc": "Move a cell phone to the safe. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3NJM2BJS4ZXKM1DADE3EUFK0PN9PCM", + "high_descs": [ + "Turn around, move to the window shelf, turn right to face the side of the table in front of the window shelf. ", + "Pick up the phone on the window shelf. ", + "Turn right, go to the lamp past the bed, turn right, go to the safe on the other side of the bed.", + "Open up the safe and put the phone inside, close the safe. " + ], + "task_desc": "Secure a phone inside a safe. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3ZDAD0O1T446HRHCLR8LD267F8MTX1", + "high_descs": [ + "Turn around and walk across the room, then turn to the right to face the table.", + "Pick up the cell phone that is on the table. ", + "Turn to the right and walk across the room, then turn to the right. ", + "Open the cupboard that is to the left of the bed and place the cell phone inside." + ], + "task_desc": "Put away the cell phone in the bedside table. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..58dfc4ea6051afdf464be4a5d02f972dbed86fea --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/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 cellphone on safe.\"\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_122757_136508)\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_86_bar__plus_00_dot_84_bar__minus_02_dot_07 - object\n Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 - object\n Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60 - object\n Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17 - object\n Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26 - object\n CD_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_43 - object\n CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73 - object\n Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 - object\n CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32 - object\n CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 - object\n DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 - object\n HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 - object\n KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19 - object\n KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22 - object\n KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52 - object\n Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48 - object\n LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 - object\n Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 - object\n Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 - object\n Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68 - object\n Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 - object\n Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54 - object\n Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76 - object\n Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65 - object\n TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 - object\n TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 - object\n Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 - object\n Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 - receptacle\n Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 - receptacle\n Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 - receptacle\n Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 - receptacle\n Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 - receptacle\n GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 - receptacle\n Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 - receptacle\n Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 - receptacle\n SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 - receptacle\n SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 - receptacle\n loc_bar_0_bar__minus_5_bar_2_bar_15 - location\n loc_bar_0_bar__minus_5_bar_3_bar_60 - location\n loc_bar_2_bar_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar__minus_1_bar_1_bar_0_bar_60 - location\n loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15 - location\n loc_bar_0_bar_3_bar_0_bar_30 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_1_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_3_bar_2_bar_3_bar_15 - location\n loc_bar__minus_1_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar_15 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_3_bar_15 - location\n loc_bar_1_bar__minus_5_bar_1_bar_0 - location\n loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15 - location\n loc_bar_0_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_3_bar_0_bar_60 - location\n loc_bar_4_bar_2_bar_1_bar_60 - location\n loc_bar_4_bar_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 ShelfType)\n (receptacleType GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 BedType)\n (receptacleType SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 SideTableType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 ShelfType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 ShelfType)\n (receptacleType Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 DeskType)\n (receptacleType Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 DrawerType)\n (receptacleType Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 SafeType)\n (receptacleType Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 DrawerType)\n (receptacleType Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 ShelfType)\n (receptacleType Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 DrawerType)\n (receptacleType SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 SideTableType)\n (objectType Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54 PenType)\n (objectType KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52 KeyChainType)\n (objectType Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 PaintingType)\n (objectType KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22 KeyChainType)\n (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 ChairType)\n (objectType KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19 KeyChainType)\n (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65 PillowType)\n (objectType Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68 PencilType)\n (objectType TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 TeddyBearType)\n (objectType CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 CreditCardType)\n (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_43 CDType)\n (objectType Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 MirrorType)\n (objectType LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 LightSwitchType)\n (objectType CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32 CreditCardType)\n (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26 BowlType)\n (objectType Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 PenType)\n (objectType Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76 PenType)\n (objectType TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 TennisRacketType)\n (objectType DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 DeskLampType)\n (objectType HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 HousePlantType)\n (objectType AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_84_bar__minus_02_dot_07 AlarmClockType)\n (objectType Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60 BookType)\n (objectType Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 WindowType)\n (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17 BowlType)\n (objectType Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 BlindsType)\n (objectType CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73 CellPhoneType)\n (objectType Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48 LaptopType)\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 BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\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 AlarmClockType)\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 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 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 SafeType CellPhoneType)\n (canContain SafeType KeyChainType)\n (canContain SafeType CreditCardType)\n (canContain SafeType CDType)\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 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 SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BowlType)\n (canContain SideTableType CDType)\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 AlarmClockType)\n (pickupable Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54)\n (pickupable KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52)\n (pickupable KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22)\n (pickupable KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19)\n (pickupable Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65)\n (pickupable Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68)\n (pickupable TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06)\n (pickupable CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87)\n (pickupable CD_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_43)\n (pickupable CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32)\n (pickupable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26)\n (pickupable Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30)\n (pickupable Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76)\n (pickupable TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07)\n (pickupable AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_84_bar__minus_02_dot_07)\n (pickupable Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60)\n (pickupable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17)\n (pickupable CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73)\n (pickupable Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48)\n (isReceptacleObject Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26)\n (isReceptacleObject Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17)\n (openable Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23)\n (openable Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44)\n (openable Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n \n (atLocation agent1 loc_bar_4_bar_2_bar_1_bar_30)\n \n (cleanable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26)\n (cleanable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17)\n \n \n (coolable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26)\n (coolable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17)\n \n \n (toggleable DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35)\n \n \n \n \n (inReceptacle TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90)\n (inReceptacle Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90)\n (inReceptacle KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23)\n (inReceptacle Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23)\n (inReceptacle CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12)\n (inReceptacle Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54 SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68)\n (inReceptacle Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68 SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68)\n (inReceptacle CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73 SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68)\n (inReceptacle AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_84_bar__minus_02_dot_07 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04)\n (inReceptacle HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04)\n (inReceptacle KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34)\n (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34)\n (inReceptacle CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60)\n (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 loc_bar__minus_1_bar_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 loc_bar_1_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar_3_bar_3_bar_0_bar_60)\n (receptacleAtLocation Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 loc_bar_0_bar__minus_5_bar_3_bar_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15)\n (receptacleAtLocation SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17 loc_bar_0_bar__minus_5_bar_3_bar_15)\n (objectAtLocation CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19 loc_bar__minus_2_bar_2_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22 loc_bar__minus_1_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 loc_bar_0_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 loc_bar_0_bar_3_bar_0_bar_30)\n (objectAtLocation Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_3_bar_3_bar_60)\n (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)\n (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)\n (objectAtLocation Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65 loc_bar_0_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (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)\n (objectAtLocation KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52 loc_bar_0_bar__minus_5_bar_3_bar_15)\n (objectAtLocation DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_84_bar__minus_02_dot_07 loc_bar_0_bar__minus_4_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 loc_bar__minus_2_bar__minus_2_bar_3_bar_15)\n (objectAtLocation Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 loc_bar__minus_3_bar_2_bar_3_bar_15)\n (objectAtLocation CD_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_43 loc_bar_4_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 loc_bar_0_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15)\n (objectAtLocation Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 loc_bar_0_bar__minus_5_bar_2_bar__minus_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 CellPhoneType)\n (receptacleType ?r SafeType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take cellphone 1 from sidetable 1", "go to safe 1", "open safe 1", "move cellphone 1 to safe 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..85ae38b6d09f5de1e17592a28b0f7af50e238f63 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/initial_state.pddl @@ -0,0 +1,537 @@ + +(define (problem plan_trial_T20190908_122757_136508) +(: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_86_bar__plus_00_dot_84_bar__minus_02_dot_07 - object + Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 - object + Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60 - object + Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17 - object + Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26 - object + CD_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_43 - object + CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 - object + CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32 - object + CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 - 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_13_bar__plus_00_dot_37_bar__plus_01_dot_19 - object + KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22 - object + KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52 - object + Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48 - 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__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68 - object + Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 - object + Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54 - object + Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76 - object + Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65 - 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__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_4_bar_2_bar_1_bar_60 - location + loc_bar_4_bar_2_bar_1_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 Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54 PenType) + (objectType KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52 KeyChainType) + (objectType Painting_bar__plus_01_dot_11_bar__plus_01_dot_63_bar__minus_01_dot_87 PaintingType) + (objectType KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22 KeyChainType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 ChairType) + (objectType KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19 KeyChainType) + (objectType Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65 PillowType) + (objectType Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68 PencilType) + (objectType TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 TeddyBearType) + (objectType CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 CreditCardType) + (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_43 CDType) + (objectType Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 MirrorType) + (objectType LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 LightSwitchType) + (objectType CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32 CreditCardType) + (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26 BowlType) + (objectType Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 PenType) + (objectType Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76 PenType) + (objectType TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07 TennisRacketType) + (objectType DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 DeskLampType) + (objectType HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 HousePlantType) + (objectType AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_84_bar__minus_02_dot_07 AlarmClockType) + (objectType Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60 BookType) + (objectType Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 WindowType) + (objectType Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17 BowlType) + (objectType Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 BlindsType) + (objectType CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73 CellPhoneType) + (objectType Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48 LaptopType) + (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 BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (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) + (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 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 SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType CreditCardType) + (canContain SafeType CDType) + (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 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 Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54) + (pickupable KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52) + (pickupable KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22) + (pickupable KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19) + (pickupable Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65) + (pickupable Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68) + (pickupable TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06) + (pickupable CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87) + (pickupable CD_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_43) + (pickupable CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32) + (pickupable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26) + (pickupable Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30) + (pickupable Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76) + (pickupable TennisRacket_bar__minus_01_dot_23_bar__plus_00_dot_30_bar__minus_00_dot_07) + (pickupable AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_84_bar__minus_02_dot_07) + (pickupable Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60) + (pickupable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17) + (pickupable CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73) + (pickupable Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48) + (isReceptacleObject Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26) + (isReceptacleObject Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17) + (openable Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23) + (openable Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44) + (openable Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + + (atLocation agent1 loc_bar_4_bar_2_bar_1_bar_30) + + (cleanable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26) + (cleanable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17) + + + (coolable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26) + (coolable Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17) + + + (toggleable DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35) + + + + + (inReceptacle TeddyBear_bar__plus_01_dot_63_bar__plus_00_dot_56_bar__minus_01_dot_06 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90) + (inReceptacle Pillow_bar__plus_01_dot_24_bar__plus_00_dot_67_bar__minus_00_dot_65 Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90) + (inReceptacle KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22 Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23) + (inReceptacle Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23) + (inReceptacle CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60 Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12) + (inReceptacle Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54 SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68) + (inReceptacle Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68 SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68) + (inReceptacle CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73 SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68) + (inReceptacle AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_84_bar__minus_02_dot_07 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04) + (inReceptacle HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04) + (inReceptacle KeyChain_bar__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34) + (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34) + (inReceptacle CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60) + (inReceptacle Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26 Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34) + + + (receptacleAtLocation Bed_bar__plus_01_dot_24_bar__plus_00_dot_00_bar__minus_00_dot_90 loc_bar_0_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_01_dot_01_bar__minus_00_dot_01_bar__minus_01_dot_12 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_17_bar__plus_01_dot_23 loc_bar__minus_1_bar_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_42_bar__plus_00_dot_53_bar__minus_01_dot_55 loc_bar_1_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_84_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar_3_bar_3_bar_0_bar_60) + (receptacleAtLocation Safe_bar__plus_01_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_47_bar__plus_00_dot_83_bar__minus_02_dot_04 loc_bar_0_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_45_bar__minus_01_dot_34 loc_bar_0_bar__minus_5_bar_3_bar_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_15) + (receptacleAtLocation Shelf_bar__minus_01_dot_29_bar__plus_01_dot_81_bar__minus_01_dot_34 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15) + (receptacleAtLocation SideTable_bar__plus_00_dot_31_bar__plus_00_dot_46_bar__plus_01_dot_23 loc_bar__minus_3_bar_4_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_00_dot_41_bar__plus_00_dot_00_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_46_bar__minus_01_dot_17 loc_bar_0_bar__minus_5_bar_3_bar_15) + (objectAtLocation CreditCard_bar__minus_00_dot_83_bar__plus_00_dot_79_bar__minus_01_dot_32 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_13_bar__plus_00_dot_37_bar__plus_01_dot_19 loc_bar__minus_2_bar_2_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_41_bar__plus_00_dot_68_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_42_bar__plus_00_dot_08_bar__plus_01_dot_22 loc_bar__minus_1_bar_1_bar_0_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_23_bar__plus_00_dot_69_bar__plus_01_dot_30 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_58_bar__minus_01_dot_40 loc_bar_0_bar__minus_5_bar_3_bar_60) + (objectAtLocation Book_bar__minus_01_dot_05_bar__plus_00_dot_79_bar__minus_00_dot_60 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_01_bar__plus_01_dot_32_bar__plus_01_dot_50 loc_bar_0_bar_3_bar_0_bar_30) + (objectAtLocation Pencil_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_08_bar__plus_00_dot_83_bar__minus_02_dot_05 loc_bar_0_bar__minus_4_bar_2_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_48 loc_bar__minus_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__minus_01_dot_76 loc_bar__minus_1_bar__minus_3_bar_3_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_24_bar__plus_00_dot_67_bar__minus_00_dot_65 loc_bar_0_bar__minus_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_46_bar__plus_00_dot_68_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_2_bar_2_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__minus_01_dot_26_bar__plus_01_dot_46_bar__minus_01_dot_52 loc_bar_0_bar__minus_5_bar_3_bar_15) + (objectAtLocation DeskLamp_bar__plus_00_dot_48_bar__plus_00_dot_67_bar__plus_01_dot_35 loc_bar__minus_3_bar_4_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_86_bar__plus_00_dot_84_bar__minus_02_dot_07 loc_bar_0_bar__minus_4_bar_2_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_23_bar__plus_01_dot_46_bar__minus_00_dot_87 loc_bar__minus_2_bar__minus_2_bar_3_bar_15) + (objectAtLocation Mirror_bar__minus_01_dot_38_bar__plus_01_dot_57_bar__plus_00_dot_51 loc_bar__minus_3_bar_2_bar_3_bar_15) + (objectAtLocation CD_bar__plus_01_dot_59_bar__plus_00_dot_04_bar__plus_00_dot_43 loc_bar_4_bar_2_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_47_bar__plus_01_dot_40_bar__minus_02_dot_25 loc_bar_0_bar__minus_5_bar_2_bar_15) + (objectAtLocation Bowl_bar__minus_01_dot_28_bar__plus_01_dot_82_bar__minus_01_dot_26 loc_bar__minus_1_bar__minus_4_bar_3_bar__minus_15) + (objectAtLocation Blinds_bar__minus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_24 loc_bar_0_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CellPhoneType) + (receptacleType ?r SafeType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0c80a2ce00334a8fb0c4ad878e9948f3c89a1899 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Safe-302/trial_T20190908_122757_136508/traj_data.json @@ -0,0 +1,4021 @@ +{ + "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, 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"rotation": { + "x": 0.0, + "y": 31.36375, + "z": 0.0 + } + }, + { + "objectName": "Pen_595e0b99", + "position": { + "x": 0.414, + "y": 0.6823883, + "z": -1.53719449 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TennisRacket_b84c0c30", + "position": { + "x": -1.226, + "y": 0.301, + "z": -0.069 + }, + "rotation": { + "x": 15.0003166, + "y": 180.0, + "z": 180.0 + } + }, + { + "objectName": "TeddyBear_35811fda", + "position": { + "x": 1.629, + "y": 0.557, + "z": -1.0642308 + }, + "rotation": { + "x": 0.0, + "y": 118.28727, + "z": 0.0 + } + }, + { + "objectName": "Pillow_da1ea79b", + "position": { + "x": 1.243, + "y": 0.666569948, + "z": -0.649521053 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_d9c0f745", + "position": { + "x": 0.4593497, + "y": 0.6785736, + "z": -1.73293519 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_227ff109", + "position": { + "x": 0.13396205, + "y": 0.374364048, + "z": 1.19112492 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_0d0b6904", + "position": { + "x": -0.85603404, + "y": 0.838089347, + "z": -2.07261753 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f9bfaad4", + "position": { + "x": -0.825, + "y": 0.7930474, + "z": -1.32320011 + }, + "rotation": { + "x": 0.0, + "y": 53.9109039, + "z": 0.0 + } + }, + { + "objectName": "CD_53aad5ee", + "position": { + "x": 1.58869839, + "y": 0.03908998, + "z": 0.4349999 + }, + "rotation": { + "x": 0.0, + "y": -0.000121235847, + "z": 0.0 + } + }, + { + "objectName": "Bowl_069b5b86", + "position": { + "x": -1.28303087, + "y": 1.46075141, + "z": -1.16840863 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 833625903, + "scene_num": 302 + }, + "task_id": "trial_T20190908_122757_136508", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A6U2C66WQ7QQN_3AMYWKA6YEDDLKS8ONDWJFN0JWEO6O", + "high_descs": [ + "Turn around, head to the night stand", + "Take the white cell phone from the night stand", + "Head to the left, open the white safe", + "Put the cell phone in the safe, close the door to the safe" + ], + "task_desc": "Put the white cell phone in the safe", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3MD9PLUKKL5XR9C7PDAU1OGQYQLZNQ", + "high_descs": [ + "Turn around and go left and then turn left to face the night stand with the phone on it.", + "Pick the phone up from the night stand.", + "Go left and then right and face the white safe on the floor in front of the bed.", + "Put the phone in the safe and shut it." + ], + "task_desc": "Put a phone in a safe.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3SKRO2GZ74IZO76WKP9MH2FARG41KZ", + "high_descs": [ + "go to the night stand", + "pick up the phone from the stand", + "take the phone to the safe on the floor", + "put the phone in the safe" + ], + "task_desc": "take the phone from the nightstand and put it in the safe.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055641_384378/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055641_384378/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bdbdd9ad4dcce6f39697fdf3ffeb027553fc0078 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055641_384378/initial_state.pddl @@ -0,0 +1,461 @@ + +(define (problem plan_trial_T20190909_055641_384378) +(: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_03_dot_42_bar__plus_00_dot_12_bar__minus_01_dot_54 - object + Cloth_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_02_dot_04 - object + Cloth_bar__minus_03_dot_36_bar__plus_00_dot_08_bar__minus_01_dot_63 - object + FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93 - object + FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83 - object + HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41 - object + LightSwitch_bar__minus_02_dot_05_bar__plus_01_dot_29_bar__plus_01_dot_00 - object + Mirror_bar__minus_03_dot_73_bar__plus_01_dot_48_bar__minus_01_dot_43 - object + Plunger_bar__minus_02_dot_21_bar_00_dot_00_bar__minus_02_dot_08 - object + ScrubBrush_bar__minus_02_dot_41_bar_00_dot_00_bar__minus_02_dot_09 - object + ShowerDoor_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_19 - object + ShowerGlass_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_12 - object + ShowerHead_bar__plus_00_dot_23_bar__plus_01_dot_03_bar__plus_00_dot_38 - object + Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93 - object + Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83 - object + SoapBar_bar__minus_02_dot_09_bar__plus_01_dot_04_bar__minus_02_dot_09 - object + SoapBottle_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_03 - object + SprayBottle_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_02_dot_12 - object + SprayBottle_bar__minus_03_dot_28_bar__plus_00_dot_91_bar__minus_01_dot_44 - object + SprayBottle_bar__minus_03_dot_48_bar__plus_00_dot_09_bar__minus_01_dot_23 - object + ToiletPaper_bar__minus_02_dot_31_bar__plus_00_dot_76_bar__minus_02_dot_16 - object + ToiletPaper_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_49 - object + Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08 - object + Window_bar__minus_01_dot_74_bar__plus_01_dot_29_bar__minus_02_dot_29 - object + Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59 - receptacle + Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38 - receptacle + Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_02_dot_19 - receptacle + CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39 - receptacle + GarbageCan_bar__minus_03_dot_60_bar__plus_00_dot_07_bar__minus_00_dot_46 - receptacle + HandTowelHolder_bar__minus_03_dot_33_bar__plus_01_dot_62_bar__minus_02_dot_20 - receptacle + HandTowelHolder_bar__minus_03_dot_75_bar__plus_01_dot_58_bar__minus_00_dot_41 - receptacle + Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93_bar_SinkBasin - receptacle + Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_02_dot_38_bar__plus_00_dot_89_bar__minus_02_dot_20 - receptacle + Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74 - receptacle + TowelHolder_bar__plus_00_dot_14_bar__plus_01_dot_11_bar__minus_02_dot_19 - receptacle + loc_bar__minus_10_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_12_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_11_bar__minus_4_bar_3_bar_45 - location + loc_bar__minus_8_bar_0_bar_1_bar_30 - location + loc_bar__minus_11_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_2_bar_30 - location + loc_bar__minus_8_bar_2_bar_0_bar_30 - location + loc_bar__minus_10_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_11_bar__minus_6_bar_2_bar_0 - location + loc_bar__minus_9_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_15 - location + loc_bar__minus_10_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_11_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_12_bar__minus_1_bar_3_bar_0 - location + loc_bar__minus_9_bar__minus_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__plus_00_dot_14_bar__plus_01_dot_11_bar__minus_02_dot_19 TowelHolderType) + (receptacleType Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74 ToiletType) + (receptacleType GarbageCan_bar__minus_03_dot_60_bar__plus_00_dot_07_bar__minus_00_dot_46 GarbageCanType) + (receptacleType Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59 CabinetType) + (receptacleType Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40 CabinetType) + (receptacleType Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39 CounterTopType) + (receptacleType Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38 CabinetType) + (receptacleType HandTowelHolder_bar__minus_03_dot_33_bar__plus_01_dot_62_bar__minus_02_dot_20 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_02_dot_19 CabinetType) + (receptacleType HandTowelHolder_bar__minus_03_dot_75_bar__plus_01_dot_58_bar__minus_00_dot_41 HandTowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_02_dot_38_bar__plus_00_dot_89_bar__minus_02_dot_20 ToiletPaperHangerType) + (objectType SprayBottle_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_02_dot_12 SprayBottleType) + (objectType Window_bar__minus_01_dot_74_bar__plus_01_dot_29_bar__minus_02_dot_29 WindowType) + (objectType Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93 SinkType) + (objectType Cloth_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_02_dot_04 ClothType) + (objectType HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41 HandTowelType) + (objectType ToiletPaper_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_49 ToiletPaperType) + (objectType Candle_bar__minus_03_dot_42_bar__plus_00_dot_12_bar__minus_01_dot_54 CandleType) + (objectType FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93 FloorLampType) + (objectType ScrubBrush_bar__minus_02_dot_41_bar_00_dot_00_bar__minus_02_dot_09 ScrubBrushType) + (objectType SprayBottle_bar__minus_03_dot_28_bar__plus_00_dot_91_bar__minus_01_dot_44 SprayBottleType) + (objectType SoapBar_bar__minus_02_dot_09_bar__plus_01_dot_04_bar__minus_02_dot_09 SoapBarType) + (objectType Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83 SinkType) + (objectType SoapBottle_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_03 SoapBottleType) + (objectType Plunger_bar__minus_02_dot_21_bar_00_dot_00_bar__minus_02_dot_08 PlungerType) + (objectType FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83 FloorLampType) + (objectType ShowerDoor_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_19 ShowerDoorType) + (objectType Mirror_bar__minus_03_dot_73_bar__plus_01_dot_48_bar__minus_01_dot_43 MirrorType) + (objectType SprayBottle_bar__minus_03_dot_48_bar__plus_00_dot_09_bar__minus_01_dot_23 SprayBottleType) + (objectType Cloth_bar__minus_03_dot_36_bar__plus_00_dot_08_bar__minus_01_dot_63 ClothType) + (objectType Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08 TowelType) + (objectType ToiletPaper_bar__minus_02_dot_31_bar__plus_00_dot_76_bar__minus_02_dot_16 ToiletPaperType) + (objectType LightSwitch_bar__minus_02_dot_05_bar__plus_01_dot_29_bar__plus_01_dot_00 LightSwitchType) + (objectType ShowerGlass_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_12 ShowerGlassType) + (canContain TowelHolderType TowelType) + (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 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 SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 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 HandTowelHolderType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (pickupable SprayBottle_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_02_dot_12) + (pickupable Cloth_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_02_dot_04) + (pickupable HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41) + (pickupable ToiletPaper_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_49) + (pickupable Candle_bar__minus_03_dot_42_bar__plus_00_dot_12_bar__minus_01_dot_54) + (pickupable ScrubBrush_bar__minus_02_dot_41_bar_00_dot_00_bar__minus_02_dot_09) + (pickupable SprayBottle_bar__minus_03_dot_28_bar__plus_00_dot_91_bar__minus_01_dot_44) + (pickupable SoapBar_bar__minus_02_dot_09_bar__plus_01_dot_04_bar__minus_02_dot_09) + (pickupable SoapBottle_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_03) + (pickupable Plunger_bar__minus_02_dot_21_bar_00_dot_00_bar__minus_02_dot_08) + (pickupable SprayBottle_bar__minus_03_dot_48_bar__plus_00_dot_09_bar__minus_01_dot_23) + (pickupable Cloth_bar__minus_03_dot_36_bar__plus_00_dot_08_bar__minus_01_dot_63) + (pickupable Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08) + (pickupable ToiletPaper_bar__minus_02_dot_31_bar__plus_00_dot_76_bar__minus_02_dot_16) + + (openable Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59) + (openable Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40) + (openable Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38) + + (atLocation agent1 loc_bar__minus_9_bar__minus_2_bar_3_bar_30) + + (cleanable Cloth_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_02_dot_04) + (cleanable SoapBar_bar__minus_02_dot_09_bar__plus_01_dot_04_bar__minus_02_dot_09) + (cleanable Cloth_bar__minus_03_dot_36_bar__plus_00_dot_08_bar__minus_01_dot_63) + + + + + + (toggleable FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93) + (toggleable FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83) + + + + + (inReceptacle Cloth_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_02_dot_04 Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_02_dot_19) + (inReceptacle SprayBottle_bar__minus_03_dot_48_bar__plus_00_dot_09_bar__minus_01_dot_23 Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38) + (inReceptacle Cloth_bar__minus_03_dot_36_bar__plus_00_dot_08_bar__minus_01_dot_63 Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40) + (inReceptacle Candle_bar__minus_03_dot_42_bar__plus_00_dot_12_bar__minus_01_dot_54 Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40) + (inReceptacle SprayBottle_bar__minus_03_dot_28_bar__plus_00_dot_91_bar__minus_01_dot_44 CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39) + (inReceptacle Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08 TowelHolder_bar__plus_00_dot_14_bar__plus_01_dot_11_bar__minus_02_dot_19) + (inReceptacle ToiletPaper_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_49 GarbageCan_bar__minus_03_dot_60_bar__plus_00_dot_07_bar__minus_00_dot_46) + (inReceptacle FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93 Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93_bar_SinkBasin) + (inReceptacle FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83 Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83_bar_SinkBasin) + (inReceptacle HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41 HandTowelHolder_bar__minus_03_dot_75_bar__plus_01_dot_58_bar__minus_00_dot_41) + (inReceptacle ToiletPaper_bar__minus_02_dot_31_bar__plus_00_dot_76_bar__minus_02_dot_16 ToiletPaperHanger_bar__minus_02_dot_38_bar__plus_00_dot_89_bar__minus_02_dot_20) + (inReceptacle SoapBottle_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_03 Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74) + (inReceptacle SoapBar_bar__minus_02_dot_09_bar__plus_01_dot_04_bar__minus_02_dot_09 Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74) + (inReceptacle SprayBottle_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_02_dot_12 Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74) + + + (receptacleAtLocation Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59 loc_bar__minus_9_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38 loc_bar__minus_9_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40 loc_bar__minus_10_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_02_dot_19 loc_bar__minus_11_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39 loc_bar__minus_11_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_60_bar__plus_00_dot_07_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_33_bar__plus_01_dot_62_bar__minus_02_dot_20 loc_bar__minus_11_bar__minus_6_bar_2_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_75_bar__plus_01_dot_58_bar__minus_00_dot_41 loc_bar__minus_12_bar__minus_1_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93_bar_SinkBasin loc_bar__minus_11_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83_bar_SinkBasin loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_38_bar__plus_00_dot_89_bar__minus_02_dot_20 loc_bar__minus_10_bar__minus_6_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_14_bar__plus_01_dot_11_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_6_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__minus_03_dot_48_bar__plus_00_dot_09_bar__minus_01_dot_23 loc_bar__minus_9_bar__minus_3_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_02_dot_04 loc_bar__minus_11_bar__minus_6_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_03_dot_28_bar__plus_00_dot_91_bar__minus_01_dot_44 loc_bar__minus_11_bar__minus_4_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_74_bar__plus_01_dot_29_bar__minus_02_dot_29 loc_bar__minus_5_bar__minus_6_bar_2_bar_30) + (objectAtLocation ShowerDoor_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_6_bar_2_bar_45) + (objectAtLocation Mirror_bar__minus_03_dot_73_bar__plus_01_dot_48_bar__minus_01_dot_43 loc_bar__minus_11_bar__minus_6_bar_3_bar_15) + (objectAtLocation ShowerGlass_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_12 loc_bar__minus_8_bar_0_bar_1_bar_30) + (objectAtLocation Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93 loc_bar__minus_11_bar__minus_4_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83 loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + (objectAtLocation FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93 loc_bar__minus_11_bar__minus_3_bar_3_bar_45) + (objectAtLocation Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_6_bar_1_bar_30) + (objectAtLocation Candle_bar__minus_03_dot_42_bar__plus_00_dot_12_bar__minus_01_dot_54 loc_bar__minus_10_bar__minus_6_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_36_bar__plus_00_dot_08_bar__minus_01_dot_63 loc_bar__minus_10_bar__minus_6_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41 loc_bar__minus_12_bar__minus_1_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_02_dot_21_bar_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_10_bar__minus_6_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_09_bar__plus_01_dot_04_bar__minus_02_dot_09 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_31_bar__plus_00_dot_76_bar__minus_02_dot_16 loc_bar__minus_10_bar__minus_6_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_49 loc_bar__minus_12_bar__minus_1_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_76_bar__plus_01_dot_05_bar__minus_02_dot_12 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation ScrubBrush_bar__minus_02_dot_41_bar_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_10_bar__minus_6_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_05_bar__plus_01_dot_29_bar__plus_01_dot_00 loc_bar__minus_8_bar_2_bar_0_bar_30) + (objectAtLocation FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83 loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o ClothType) + (receptacleType ?r SinkBasinType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055641_384378/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055641_384378/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f50729dca5e34834519a1a89c01bb8562ca2f70e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055641_384378/traj_data.json @@ -0,0 +1,2491 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 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"position": { + "x": -3.27855563, + "y": 0.9120542, + "z": -1.44403481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_086f3d74", + "position": { + "x": 0.136, + "y": 1.121, + "z": -2.0801 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_7746f2e2", + "position": { + "x": -3.420054, + "y": 0.124715149, + "z": -1.54459572 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_88b5eac5", + "position": { + "x": -3.29628658, + "y": 0.08391911, + "z": -2.04215121 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_7997f454", + "position": { + "x": -3.7117002, + "y": 1.474, + "z": -0.41090405 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Plunger_1f8d5b27", + "position": { + "x": -2.2071774, + "y": -0.00107459724, + "z": -2.07605076 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_8eef5281", + "position": { + "x": -1.69584119, + "y": 1.04492867, + "z": -2.03036666 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_0496cb8f", + "position": { + "x": -2.0892725, + "y": 1.04369259, + "z": -2.09163356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_26ff7f92", + "position": { + "x": -2.30531144, + "y": 0.7558019, + "z": -2.157493 + }, + "rotation": { + "x": 1.15148342e-12, + "y": 1.15148429e-12, + "z": 90.0000458 + } + }, + { + "objectName": "ToiletPaper_9c1d68b7", + "position": { + "x": -3.61869359, + "y": 0.118366189, + "z": -0.485065728 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_6ef8a9fe", + "position": { + "x": -3.483096, + "y": 0.08501917, + "z": -1.23344243 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_8dcf570a", + "position": { + "x": -2.407, + "y": -0.00107459724, + "z": -2.092 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 772935867, + "scene_num": 412 + }, + "task_id": "trial_T20190909_055641_384378", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_3SKRO2GZ74IZO76WKP9MH2FARPJ1KW", + "high_descs": [ + "Move to the left to face the sink on the left.", + "Open the lower cabinet on the far left and take out the white cloth.", + "Move to the right and face the left sink.", + "Put the cloth in the sink." + ], + "task_desc": "Put a cloth in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3WETL7AQWWZSGRZ806JZ36BPSJ4357", + "high_descs": [ + "Turn left to go to the wall, then turn right to face the sink; look down at the cabinet.", + "Open the leftmost cabinet under the sink, and take out the rag from inside.", + "Look back up at the sink above.", + "Put the rag in the sink in front of you." + ], + "task_desc": "Put a rag in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3WJ1OXY92D7BNUHV7J5C2YZM0JXA8C", + "high_descs": [ + "Move to the far left cupboard under the far left sink", + "Open the cupboard and remove the towel inside, shut the cupboard", + "Carry the towel to the left sink above the cupboard", + "Place the towel in the sink" + ], + "task_desc": "Move a towel 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-Cloth-None-SinkBasin-412/trial_T20190909_055708_322701/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055708_322701/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8779522ad40fad0d64c629530bba8108e0a06251 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055708_322701/initial_state.pddl @@ -0,0 +1,476 @@ + +(define (problem plan_trial_T20190909_055708_322701) +(: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_09_bar__plus_01_dot_09_bar__minus_01_dot_97 - object + Candle_bar__minus_03_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_28 - object + Candle_bar__minus_03_dot_35_bar__plus_00_dot_95_bar__minus_01_dot_32 - object + Cloth_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_63 - object + Cloth_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_00 - object + FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93 - object + FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83 - object + HandTowel_bar__minus_03_dot_33_bar__plus_01_dot_52_bar__minus_02_dot_16 - object + HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41 - object + LightSwitch_bar__minus_02_dot_05_bar__plus_01_dot_29_bar__plus_01_dot_00 - object + Mirror_bar__minus_03_dot_73_bar__plus_01_dot_48_bar__minus_01_dot_43 - object + Plunger_bar__minus_02_dot_21_bar_00_dot_00_bar__minus_02_dot_08 - object + ScrubBrush_bar__minus_02_dot_41_bar_00_dot_00_bar__minus_02_dot_09 - object + ShowerDoor_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_19 - object + ShowerGlass_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_12 - object + ShowerHead_bar__plus_00_dot_23_bar__plus_01_dot_03_bar__plus_00_dot_38 - object + Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93 - object + Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83 - object + SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__minus_02_dot_00 - object + SoapBottle_bar__minus_03_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_78 - object + SoapBottle_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_44 - object + SprayBottle_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_01_dot_50 - object + ToiletPaper_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_12 - object + ToiletPaper_bar__minus_01_dot_76_bar__plus_01_dot_04_bar__minus_02_dot_00 - object + ToiletPaper_bar__minus_01_dot_83_bar__plus_01_dot_04_bar__minus_02_dot_12 - object + Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08 - object + Window_bar__minus_01_dot_74_bar__plus_01_dot_29_bar__minus_02_dot_29 - object + Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59 - receptacle + Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38 - receptacle + Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_02_dot_19 - receptacle + CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39 - receptacle + GarbageCan_bar__minus_03_dot_60_bar__plus_00_dot_07_bar__minus_00_dot_46 - receptacle + HandTowelHolder_bar__minus_03_dot_33_bar__plus_01_dot_62_bar__minus_02_dot_20 - receptacle + HandTowelHolder_bar__minus_03_dot_75_bar__plus_01_dot_58_bar__minus_00_dot_41 - receptacle + Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93_bar_SinkBasin - receptacle + Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_02_dot_38_bar__plus_00_dot_89_bar__minus_02_dot_20 - receptacle + Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74 - receptacle + TowelHolder_bar__plus_00_dot_14_bar__plus_01_dot_11_bar__minus_02_dot_19 - receptacle + loc_bar__minus_10_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_12_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_9_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_11_bar__minus_4_bar_3_bar_45 - location + loc_bar__minus_8_bar_0_bar_1_bar_30 - location + loc_bar__minus_11_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_2_bar_30 - location + loc_bar__minus_8_bar_2_bar_0_bar_30 - location + loc_bar__minus_10_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_11_bar__minus_6_bar_2_bar_0 - location + loc_bar__minus_9_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_15 - location + loc_bar__minus_10_bar__minus_6_bar_2_bar_60 - location + loc_bar__minus_11_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_11_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_12_bar__minus_1_bar_3_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__plus_00_dot_14_bar__plus_01_dot_11_bar__minus_02_dot_19 TowelHolderType) + (receptacleType Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74 ToiletType) + (receptacleType GarbageCan_bar__minus_03_dot_60_bar__plus_00_dot_07_bar__minus_00_dot_46 GarbageCanType) + (receptacleType Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59 CabinetType) + (receptacleType Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40 CabinetType) + (receptacleType Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39 CounterTopType) + (receptacleType Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38 CabinetType) + (receptacleType HandTowelHolder_bar__minus_03_dot_33_bar__plus_01_dot_62_bar__minus_02_dot_20 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_02_dot_19 CabinetType) + (receptacleType HandTowelHolder_bar__minus_03_dot_75_bar__plus_01_dot_58_bar__minus_00_dot_41 HandTowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_02_dot_38_bar__plus_00_dot_89_bar__minus_02_dot_20 ToiletPaperHangerType) + (objectType Window_bar__minus_01_dot_74_bar__plus_01_dot_29_bar__minus_02_dot_29 WindowType) + (objectType Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93 SinkType) + (objectType SprayBottle_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_01_dot_50 SprayBottleType) + (objectType HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41 HandTowelType) + (objectType SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__minus_02_dot_00 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_76_bar__plus_01_dot_04_bar__minus_02_dot_00 ToiletPaperType) + (objectType HandTowel_bar__minus_03_dot_33_bar__plus_01_dot_52_bar__minus_02_dot_16 HandTowelType) + (objectType FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93 FloorLampType) + (objectType SoapBottle_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_44 SoapBottleType) + (objectType Cloth_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_63 ClothType) + (objectType ScrubBrush_bar__minus_02_dot_41_bar_00_dot_00_bar__minus_02_dot_09 ScrubBrushType) + (objectType Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83 SinkType) + (objectType ToiletPaper_bar__minus_01_dot_83_bar__plus_01_dot_04_bar__minus_02_dot_12 ToiletPaperType) + (objectType Plunger_bar__minus_02_dot_21_bar_00_dot_00_bar__minus_02_dot_08 PlungerType) + (objectType FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83 FloorLampType) + (objectType Candle_bar__minus_03_dot_35_bar__plus_00_dot_95_bar__minus_01_dot_32 CandleType) + (objectType ShowerDoor_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_19 ShowerDoorType) + (objectType Mirror_bar__minus_03_dot_73_bar__plus_01_dot_48_bar__minus_01_dot_43 MirrorType) + (objectType Candle_bar__minus_02_dot_09_bar__plus_01_dot_09_bar__minus_01_dot_97 CandleType) + (objectType Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08 TowelType) + (objectType SoapBottle_bar__minus_03_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_78 SoapBottleType) + (objectType LightSwitch_bar__minus_02_dot_05_bar__plus_01_dot_29_bar__plus_01_dot_00 LightSwitchType) + (objectType ToiletPaper_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_12 ToiletPaperType) + (objectType ShowerGlass_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_12 ShowerGlassType) + (objectType Cloth_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_00 ClothType) + (objectType Candle_bar__minus_03_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_28 CandleType) + (canContain TowelHolderType TowelType) + (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 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 SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 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 HandTowelHolderType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (pickupable SprayBottle_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_01_dot_50) + (pickupable HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41) + (pickupable SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__minus_02_dot_00) + (pickupable ToiletPaper_bar__minus_01_dot_76_bar__plus_01_dot_04_bar__minus_02_dot_00) + (pickupable HandTowel_bar__minus_03_dot_33_bar__plus_01_dot_52_bar__minus_02_dot_16) + (pickupable SoapBottle_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_44) + (pickupable Cloth_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_63) + (pickupable ScrubBrush_bar__minus_02_dot_41_bar_00_dot_00_bar__minus_02_dot_09) + (pickupable ToiletPaper_bar__minus_01_dot_83_bar__plus_01_dot_04_bar__minus_02_dot_12) + (pickupable Plunger_bar__minus_02_dot_21_bar_00_dot_00_bar__minus_02_dot_08) + (pickupable Candle_bar__minus_03_dot_35_bar__plus_00_dot_95_bar__minus_01_dot_32) + (pickupable Candle_bar__minus_02_dot_09_bar__plus_01_dot_09_bar__minus_01_dot_97) + (pickupable Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08) + (pickupable SoapBottle_bar__minus_03_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_78) + (pickupable ToiletPaper_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_12) + (pickupable Cloth_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_00) + (pickupable Candle_bar__minus_03_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_28) + + (openable Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59) + (openable Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40) + (openable Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38) + + (atLocation agent1 loc_bar__minus_5_bar__minus_4_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__minus_02_dot_00) + (cleanable Cloth_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_63) + (cleanable Cloth_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_00) + + + + + + (toggleable FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93) + (toggleable FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83) + + + + + (inReceptacle Cloth_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_00 Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_02_dot_19) + (inReceptacle SprayBottle_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_01_dot_50 Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40) + (inReceptacle Cloth_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_63 Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40) + (inReceptacle SoapBottle_bar__minus_03_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_78 Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59) + (inReceptacle Candle_bar__minus_03_dot_35_bar__plus_00_dot_95_bar__minus_01_dot_32 CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39) + (inReceptacle Candle_bar__minus_03_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_28 CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39) + (inReceptacle Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08 TowelHolder_bar__plus_00_dot_14_bar__plus_01_dot_11_bar__minus_02_dot_19) + (inReceptacle SoapBottle_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_44 GarbageCan_bar__minus_03_dot_60_bar__plus_00_dot_07_bar__minus_00_dot_46) + (inReceptacle FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93 Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93_bar_SinkBasin) + (inReceptacle FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83 Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83_bar_SinkBasin) + (inReceptacle HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41 HandTowelHolder_bar__minus_03_dot_75_bar__plus_01_dot_58_bar__minus_00_dot_41) + (inReceptacle HandTowel_bar__minus_03_dot_33_bar__plus_01_dot_52_bar__minus_02_dot_16 HandTowelHolder_bar__minus_03_dot_33_bar__plus_01_dot_62_bar__minus_02_dot_20) + (inReceptacle ToiletPaper_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_12 Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74) + (inReceptacle SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__minus_02_dot_00 Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74) + (inReceptacle ToiletPaper_bar__minus_01_dot_76_bar__plus_01_dot_04_bar__minus_02_dot_00 Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74) + (inReceptacle Candle_bar__minus_02_dot_09_bar__plus_01_dot_09_bar__minus_01_dot_97 Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74) + (inReceptacle ToiletPaper_bar__minus_01_dot_83_bar__plus_01_dot_04_bar__minus_02_dot_12 Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74) + + + (receptacleAtLocation Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_00_dot_59 loc_bar__minus_9_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_38 loc_bar__minus_9_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_01_dot_40 loc_bar__minus_10_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_17_bar__plus_00_dot_37_bar__minus_02_dot_19 loc_bar__minus_11_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__minus_03_dot_43_bar__plus_00_dot_88_bar__minus_01_dot_39 loc_bar__minus_11_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_60_bar__plus_00_dot_07_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_33_bar__plus_01_dot_62_bar__minus_02_dot_20 loc_bar__minus_11_bar__minus_6_bar_2_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_75_bar__plus_01_dot_58_bar__minus_00_dot_41 loc_bar__minus_12_bar__minus_1_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93_bar_SinkBasin loc_bar__minus_11_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83_bar_SinkBasin loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_38_bar__plus_00_dot_89_bar__minus_02_dot_20 loc_bar__minus_10_bar__minus_6_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_90_bar_00_dot_00_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_14_bar__plus_01_dot_11_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_6_bar_1_bar_30) + (objectAtLocation ToiletPaper_bar__minus_01_dot_83_bar__plus_01_dot_04_bar__minus_02_dot_12 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_54_bar__plus_00_dot_08_bar__minus_00_dot_78 loc_bar__minus_9_bar__minus_1_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_03_dot_33_bar__plus_01_dot_52_bar__minus_02_dot_16 loc_bar__minus_11_bar__minus_6_bar_2_bar_0) + (objectAtLocation Cloth_bar__minus_03_dot_48_bar__plus_00_dot_08_bar__minus_02_dot_00 loc_bar__minus_11_bar__minus_6_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_09_bar__plus_01_dot_09_bar__minus_01_dot_97 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_03_dot_35_bar__plus_00_dot_95_bar__minus_01_dot_32 loc_bar__minus_11_bar__minus_4_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_74_bar__plus_01_dot_29_bar__minus_02_dot_29 loc_bar__minus_5_bar__minus_6_bar_2_bar_30) + (objectAtLocation ShowerDoor_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_6_bar_2_bar_45) + (objectAtLocation Mirror_bar__minus_03_dot_73_bar__plus_01_dot_48_bar__minus_01_dot_43 loc_bar__minus_11_bar__minus_6_bar_3_bar_15) + (objectAtLocation ShowerGlass_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_00_dot_12 loc_bar__minus_8_bar_0_bar_1_bar_30) + (objectAtLocation Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_00_dot_93 loc_bar__minus_11_bar__minus_4_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_03_dot_39_bar__plus_00_dot_84_bar__minus_01_dot_83 loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + (objectAtLocation FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_00_dot_93 loc_bar__minus_11_bar__minus_3_bar_3_bar_45) + (objectAtLocation Towel_bar__plus_00_dot_14_bar__plus_01_dot_12_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_6_bar_1_bar_30) + (objectAtLocation Candle_bar__minus_03_dot_21_bar__plus_00_dot_95_bar__minus_01_dot_28 loc_bar__minus_11_bar__minus_4_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_03_dot_42_bar__plus_00_dot_08_bar__minus_01_dot_63 loc_bar__minus_10_bar__minus_6_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_03_dot_71_bar__plus_01_dot_47_bar__minus_00_dot_41 loc_bar__minus_12_bar__minus_1_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_02_dot_21_bar_00_dot_00_bar__minus_02_dot_08 loc_bar__minus_10_bar__minus_6_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_62_bar__plus_00_dot_12_bar__minus_00_dot_44 loc_bar__minus_12_bar__minus_1_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_96_bar__plus_01_dot_04_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_70_bar__plus_01_dot_04_bar__minus_02_dot_12 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_76_bar__plus_01_dot_04_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_6_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_03_dot_30_bar__plus_00_dot_08_bar__minus_01_dot_50 loc_bar__minus_10_bar__minus_6_bar_3_bar_60) + (objectAtLocation ScrubBrush_bar__minus_02_dot_41_bar_00_dot_00_bar__minus_02_dot_09 loc_bar__minus_10_bar__minus_6_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_05_bar__plus_01_dot_29_bar__plus_01_dot_00 loc_bar__minus_8_bar_2_bar_0_bar_30) + (objectAtLocation FloorLamp_bar__minus_03_dot_54_bar__plus_01_dot_02_bar__minus_01_dot_83 loc_bar__minus_11_bar__minus_6_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o ClothType) + (receptacleType ?r SinkBasinType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055708_322701/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055708_322701/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..fb8add3de0ffe79a606eea4124246d1fe98510de --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Cloth-None-SinkBasin-412/trial_T20190909_055708_322701/traj_data.json @@ -0,0 +1,2790 @@ +{ + "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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0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_9c1d68b7", + "position": { + "x": -1.82698488, + "y": 1.04062283, + "z": -2.12226677 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_6ef8a9fe", + "position": { + "x": -3.29515648, + "y": 0.0847049356, + "z": -1.4998759 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_8dcf570a", + "position": { + "x": -2.407, + "y": -0.00107459724, + "z": -2.092 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1102002220, + "scene_num": 412 + }, + "task_id": "trial_T20190909_055708_322701", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A31681CCEVDIH3_31LM9EDVOOJ7RU737R78DUS0F0UNJV", + "high_descs": [ + "Turn around to walk around the toilet to face the sink on the left.", + "Take the white rag out from underneath the sink on the left.", + "Turn to face the sink on the left.", + "Put the white rag in the sink on the left." + ], + "task_desc": "Move a white rag from under the sink on the left to the sink basin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_33PPUNGG3BWI674ZIKRBA8L0ZVVRZ7", + "high_descs": [ + "Turn around and go to the sing on the left across from you. ", + "Open the right cabinet, and remove the rag from inside the cabinet. ", + "Step back from the cabinet, and then step up to the sink. ", + "Place the rag in the right sink. " + ], + "task_desc": "Put a rag in the sink. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A8E99XNOTT390_3YMTUJH0DV7FJPT21G6GGR99MLS4TO", + "high_descs": [ + "Turn away from the shower and walk until you are facing the sink farthest to the left.", + "Open the cabinet door on the right below the sink on the left and remove a white towel. Shut the cabinet door when finished.", + "Move slightly to the right until you are positioned between the 2 sinks.", + "Place the white towel in the sink basin on the left side of the counter." + ], + "task_desc": "Put a white towel into the sink furthest to the left.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b52c983c368ff017a9cb482b8dabb42dfdfabc51 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/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 laptop on sofa.\"\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_014747_133302)\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_17_bar__plus_00_dot_55_bar__minus_01_dot_15 - object\n CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12 - 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_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91 - object\n KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 - object\n KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22 - object\n Laptop_bar__plus_01_dot_12_bar__plus_00_dot_66_bar__plus_01_dot_04 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object\n Newspaper_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 - 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_01_dot_49_bar__plus_00_dot_46_bar__plus_01_dot_02 - object\n Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_41 - object\n Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_72 - object\n Statue_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 - 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_81_bar__plus_00_dot_13_bar__plus_01_dot_27 - object\n TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18 - object\n Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 - object\n Vase_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 - object\n Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19 - 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_1_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_0_bar_1_bar_0_bar_45 - location\n loc_bar__minus_13_bar__minus_9_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 Statue_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 StatueType)\n (objectType KeyChain_bar__plus_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91 KeyChainType)\n (objectType Newspaper_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 NewspaperType)\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__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 VaseType)\n (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType)\n (objectType Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_72 StatueType)\n (objectType Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_41 StatueType)\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_12_bar__plus_00_dot_66_bar__plus_01_dot_04 LaptopType)\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_27 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 CreditCard_bar__minus_00_dot_17_bar__plus_00_dot_55_bar__minus_01_dot_15 CreditCardType)\n (objectType Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType)\n (objectType Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19 VaseType)\n (objectType FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 FloorLampType)\n (objectType TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18 TissueBoxType)\n (objectType RemoteControl_bar__plus_01_dot_49_bar__plus_00_dot_46_bar__plus_01_dot_02 RemoteControlType)\n (objectType HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 HousePlantType)\n (objectType KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22 KeyChainType)\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 CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12 CreditCardType)\n (objectType Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 BoxType)\n (objectType KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 KeyChainType)\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 Statue_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19)\n (pickupable KeyChain_bar__plus_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91)\n (pickupable Newspaper_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20)\n (pickupable Vase_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19)\n (pickupable Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_72)\n (pickupable Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_41)\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_12_bar__plus_00_dot_66_bar__plus_01_dot_04)\n (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_27)\n (pickupable CreditCard_bar__minus_00_dot_17_bar__plus_00_dot_55_bar__minus_01_dot_15)\n (pickupable Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20)\n (pickupable Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19)\n (pickupable TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18)\n (pickupable RemoteControl_bar__plus_01_dot_49_bar__plus_00_dot_46_bar__plus_01_dot_02)\n (pickupable KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22)\n (pickupable CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12)\n (pickupable Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46)\n (pickupable KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24)\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_13_bar__minus_9_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 CreditCard_bar__minus_00_dot_17_bar__plus_00_dot_55_bar__minus_01_dot_15 Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39)\n (inReceptacle KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22 Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03)\n (inReceptacle CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12 ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35)\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_41_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 Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_72 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 Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19 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_12_bar__plus_00_dot_66_bar__plus_01_dot_04 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 TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18 Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03)\n (inReceptacle Statue_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 Vase_bar__minus_01_dot_28_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 KeyChain_bar__plus_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07)\n (inReceptacle RemoteControl_bar__plus_01_dot_49_bar__plus_00_dot_46_bar__plus_01_dot_02 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07)\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 Newspaper_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 (inReceptacle TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_27 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_41_bar__plus_00_dot_76_bar__minus_01_dot_72 loc_bar_6_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91 loc_bar_4_bar_0_bar_0_bar_45)\n (objectAtLocation TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18 loc_bar__minus_5_bar_1_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 loc_bar__minus_1_bar_3_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_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Newspaper_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 KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19 loc_bar__minus_16_bar__minus_3_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_05_bar__plus_00_dot_90_bar__plus_01_dot_19 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_49_bar__plus_00_dot_46_bar__plus_01_dot_02 loc_bar_4_bar_0_bar_0_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__minus_00_dot_17_bar__plus_00_dot_55_bar__minus_01_dot_15 loc_bar__minus_2_bar__minus_1_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_12_bar__plus_00_dot_66_bar__plus_01_dot_04 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_41_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 (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o LaptopType)\n (receptacleType ?r SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 2", "take laptop 1 from sidetable 2", "go to sofa 1", "move laptop 1 to sofa 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..42075d602a9550e0c063b912eba9c9b6aa635591 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/initial_state.pddl @@ -0,0 +1,504 @@ + +(define (problem plan_trial_T20190907_014747_133302) +(: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_17_bar__plus_00_dot_55_bar__minus_01_dot_15 - object + CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12 - 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_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91 - object + KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 - object + KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22 - object + Laptop_bar__plus_01_dot_12_bar__plus_00_dot_66_bar__plus_01_dot_04 - object + LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object + Newspaper_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 - 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_01_dot_49_bar__plus_00_dot_46_bar__plus_01_dot_02 - object + Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_41 - object + Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_72 - object + Statue_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 - object + TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_27 - object + TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18 - object + Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 - object + Vase_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19 - 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_1_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_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_13_bar__minus_9_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 Statue_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 StatueType) + (objectType KeyChain_bar__plus_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91 KeyChainType) + (objectType Newspaper_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20 NewspaperType) + (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__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 VaseType) + (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType) + (objectType Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_72 StatueType) + (objectType Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_41 StatueType) + (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType) + (objectType Laptop_bar__plus_01_dot_12_bar__plus_00_dot_66_bar__plus_01_dot_04 LaptopType) + (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_27 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 CreditCard_bar__minus_00_dot_17_bar__plus_00_dot_55_bar__minus_01_dot_15 CreditCardType) + (objectType Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType) + (objectType Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19 VaseType) + (objectType FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 FloorLampType) + (objectType TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18 TissueBoxType) + (objectType RemoteControl_bar__plus_01_dot_49_bar__plus_00_dot_46_bar__plus_01_dot_02 RemoteControlType) + (objectType HousePlant_bar__plus_01_dot_56_bar__plus_00_dot_65_bar__plus_01_dot_17 HousePlantType) + (objectType KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22 KeyChainType) + (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 CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12 CreditCardType) + (objectType Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46 BoxType) + (objectType KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 KeyChainType) + (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 Statue_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19) + (pickupable KeyChain_bar__plus_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91) + (pickupable Newspaper_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_20) + (pickupable Vase_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19) + (pickupable Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_72) + (pickupable Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_41) + (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25) + (pickupable Laptop_bar__plus_01_dot_12_bar__plus_00_dot_66_bar__plus_01_dot_04) + (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_27) + (pickupable CreditCard_bar__minus_00_dot_17_bar__plus_00_dot_55_bar__minus_01_dot_15) + (pickupable Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20) + (pickupable Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19) + (pickupable TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18) + (pickupable RemoteControl_bar__plus_01_dot_49_bar__plus_00_dot_46_bar__plus_01_dot_02) + (pickupable KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22) + (pickupable CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12) + (pickupable Box_bar__minus_03_dot_78_bar__plus_01_dot_31_bar__plus_00_dot_46) + (pickupable KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24) + (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_13_bar__minus_9_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 CreditCard_bar__minus_00_dot_17_bar__plus_00_dot_55_bar__minus_01_dot_15 Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39) + (inReceptacle KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22 Drawer_bar__minus_00_dot_16_bar__plus_00_dot_73_bar__plus_01_dot_03) + (inReceptacle CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12 ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35) + (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_41_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 Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_72 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 Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19 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_12_bar__plus_00_dot_66_bar__plus_01_dot_04 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 TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18 Drawer_bar__minus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_03) + (inReceptacle Statue_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 Vase_bar__minus_01_dot_28_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 KeyChain_bar__plus_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07) + (inReceptacle RemoteControl_bar__plus_01_dot_49_bar__plus_00_dot_46_bar__plus_01_dot_02 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07) + (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 Newspaper_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) + (inReceptacle TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_27 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_41_bar__plus_00_dot_76_bar__minus_01_dot_72 loc_bar_6_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_45_bar__plus_00_dot_51_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_75_bar__plus_00_dot_46_bar__plus_00_dot_91 loc_bar_4_bar_0_bar_0_bar_45) + (objectAtLocation TissueBox_bar__minus_01_dot_22_bar__plus_00_dot_64_bar__plus_01_dot_18 loc_bar__minus_5_bar_1_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_13_bar__plus_01_dot_24 loc_bar__minus_1_bar_3_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_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar__minus_1_bar_2_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_27 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Newspaper_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 KeyChain_bar__minus_00_dot_26_bar__plus_00_dot_63_bar__plus_01_dot_22 loc_bar_0_bar_1_bar_0_bar_45) + (objectAtLocation Vase_bar__minus_04_dot_27_bar__plus_01_dot_07_bar__plus_00_dot_19 loc_bar__minus_16_bar__minus_3_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_05_bar__plus_00_dot_90_bar__plus_01_dot_19 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_49_bar__plus_00_dot_46_bar__plus_01_dot_02 loc_bar_4_bar_0_bar_0_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__minus_00_dot_17_bar__plus_00_dot_55_bar__minus_01_dot_15 loc_bar__minus_2_bar__minus_1_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_12_bar__plus_00_dot_66_bar__plus_01_dot_04 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_41_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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o LaptopType) + (receptacleType ?r SofaType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..33394b637587a8642c728cf70bb46d20146a26fc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014747_133302/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, + 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{ + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Statue_b9ed9b88", + "position": { + "x": -1.04760683, + "y": 0.902987838, + "z": 1.18729341 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_5b8bcfa9", + "position": { + "x": 1.48854125, + "y": 0.459524244, + "z": 1.01663578 + }, + "rotation": { + "x": 0.0, + "y": -1.70754731e-06, + "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": -1.45162988, + "y": 0.510055542, + "z": -1.124613 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_fbe5dbee", + "position": { + "x": 1.11789083, + "y": 0.656631947, + "z": 1.0432601 + }, + "rotation": { + "x": 0.0, + "y": -1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "Vase_6ea54dcc", + "position": { + "x": -0.5166645, + "y": 0.114890076, + "z": 1.20104086 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_d6a7b63c", + "position": { + "x": 1.40774417, + "y": 0.757586241, + "z": -1.71501589 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3836722409, + "scene_num": 216 + }, + "task_id": "trial_T20190907_014747_133302", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3PM8NZGV81XL4M3M8FP97BBI05KXQY", + "high_descs": [ + "Turn around and walk until you are in the larger area of the room then turn right and walk until you almost hit the wall then turn left and walk to the laptop.", + "Pick up the laptop.", + "Turn left and walk a few steps then turn left and walk to the couch so you are facing the right side of it.", + "Place the laptop in the center of the couch." + ], + "task_desc": "Place a laptop on the couch.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2WPKP73S4MBLK_3X65QVEQI34MARCEPELQCCREPH5CLI", + "high_descs": [ + "Turn around and head to the wall, then turn right and walk to the end of the room, then turn left and face the black computer on the desk", + "Fold up the computer and pick it up from the table", + "Turn left and walk forward a bit, then turn left again at the end of the brown sofa", + "Put the computer on the brown sofa" + ], + "task_desc": "Put the computer on the sofa.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3ZSANO2JCIOGHGRE0P8SW4QCEOBFSG", + "high_descs": [ + "Turn around and move towards the brown chair then turn right and move to the end of the room and then turn left and move to the table.", + "Close the lid of the laptop on the table and pick the laptop up from the table.", + "Turn left and move to end of the dresser and then turn left and move to the couch.", + "Place the laptop in the middle of the couch." + ], + "task_desc": "Place laptop on the couch.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a2a7467f3249be674ec9d1ff690622de5d9027bf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/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 laptop in sofa.\"\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_014811_569477)\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_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32 - object\n CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_27 - object\n CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04 - 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_00_dot_91 - object\n KeyChain_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 - object\n KeyChain_bar__minus_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00 - object\n Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object\n Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14 - 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_54_bar__minus_01_dot_32 - object\n Statue_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_97 - object\n Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_49 - object\n Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 - object\n Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 - object\n TissueBox_bar__minus_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16 - 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_59_bar__plus_00_dot_91_bar__plus_01_dot_14 - 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__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_0_bar_1_bar_0_bar_45 - location\n loc_bar_2_bar_0_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 Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14 VaseType)\n (objectType Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 ChairType)\n (objectType Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 StatueType)\n (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType)\n (objectType RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_32 RemoteControlType)\n (objectType Statue_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_97 StatueType)\n (objectType KeyChain_bar__minus_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00 KeyChainType)\n (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType)\n (objectType KeyChain_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 KeyChainType)\n (objectType Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12 LaptopType)\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 Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_49 StatueType)\n (objectType Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType)\n (objectType Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14 NewspaperType)\n (objectType CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32 CreditCardType)\n (objectType Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType)\n (objectType CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04 CreditCardType)\n (objectType CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_27 CreditCardType)\n (objectType FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 FloorLampType)\n (objectType TissueBox_bar__minus_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16 TissueBoxType)\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 KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_00_dot_91 KeyChainType)\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 Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14)\n (pickupable Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17)\n (pickupable RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_32)\n (pickupable Statue_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_97)\n (pickupable KeyChain_bar__minus_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00)\n (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25)\n (pickupable KeyChain_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23)\n (pickupable Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12)\n (pickupable Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_49)\n (pickupable Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20)\n (pickupable Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14)\n (pickupable CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32)\n (pickupable Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20)\n (pickupable CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04)\n (pickupable CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_27)\n (pickupable TissueBox_bar__minus_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16)\n (pickupable KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_00_dot_91)\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_2_bar_0_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 RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_32 Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39)\n (inReceptacle CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32 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 CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04 ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35)\n (inReceptacle Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_49 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_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26)\n (inReceptacle TissueBox_bar__minus_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16 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 Statue_bar__plus_00_dot_67_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 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 CreditCard_bar__plus_00_dot_97_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 Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle KeyChain_bar__minus_00_dot_82_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 Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14 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_00_dot_91 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07)\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 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 Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 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_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_97 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar__minus_2_bar__minus_1_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_00_dot_91 loc_bar_4_bar_0_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04 loc_bar__minus_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00 loc_bar__minus_16_bar__minus_3_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_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16 loc_bar__minus_16_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14 loc_bar__minus_1_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_17 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_54_bar__minus_01_dot_32 loc_bar__minus_2_bar__minus_1_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__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_27 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12 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_41_bar__plus_00_dot_76_bar__minus_01_dot_49 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 (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o LaptopType)\n (receptacleType ?r SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 2", "take laptop 1 from sidetable 2", "go to sofa 1", "move laptop 1 to sofa 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..edb5f44c7c10c385c452ced842a9587205d0ba73 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/initial_state.pddl @@ -0,0 +1,504 @@ + +(define (problem plan_trial_T20190907_014811_569477) +(: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_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32 - object + CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_27 - object + CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04 - 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_00_dot_91 - object + KeyChain_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 - object + KeyChain_bar__minus_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00 - object + Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12 - object + LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object + Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14 - 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_54_bar__minus_01_dot_32 - object + Statue_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_97 - object + Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_49 - object + Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 - object + Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 - object + TissueBox_bar__minus_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16 - object + Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 - object + Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14 - 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__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_0_bar_1_bar_0_bar_45 - location + loc_bar_2_bar_0_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 Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14 VaseType) + (objectType Chair_bar__minus_04_dot_40_bar__plus_00_dot_00_bar__plus_00_dot_28 ChairType) + (objectType Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 StatueType) + (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType) + (objectType RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_32 RemoteControlType) + (objectType Statue_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_97 StatueType) + (objectType KeyChain_bar__minus_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00 KeyChainType) + (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType) + (objectType KeyChain_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 KeyChainType) + (objectType Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12 LaptopType) + (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 Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_49 StatueType) + (objectType Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType) + (objectType Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14 NewspaperType) + (objectType CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32 CreditCardType) + (objectType Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20 VaseType) + (objectType CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04 CreditCardType) + (objectType CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_27 CreditCardType) + (objectType FloorLamp_bar__minus_04_dot_57_bar__plus_00_dot_00_bar__minus_01_dot_62 FloorLampType) + (objectType TissueBox_bar__minus_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16 TissueBoxType) + (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 KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_00_dot_91 KeyChainType) + (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 Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14) + (pickupable Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17) + (pickupable RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_32) + (pickupable Statue_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_97) + (pickupable KeyChain_bar__minus_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00) + (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25) + (pickupable KeyChain_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23) + (pickupable Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12) + (pickupable Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_49) + (pickupable Vase_bar__minus_00_dot_97_bar__plus_00_dot_11_bar__plus_01_dot_20) + (pickupable Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14) + (pickupable CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32) + (pickupable Vase_bar__minus_00_dot_52_bar__plus_00_dot_11_bar__plus_01_dot_20) + (pickupable CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04) + (pickupable CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_27) + (pickupable TissueBox_bar__minus_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16) + (pickupable KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_00_dot_91) + (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_2_bar_0_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 RemoteControl_bar__plus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_32 Sofa_bar__plus_00_dot_06_bar__plus_00_dot_00_bar__minus_01_dot_39) + (inReceptacle CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32 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 CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04 ArmChair_bar__minus_01_dot_83_bar__plus_00_dot_00_bar__minus_01_dot_35) + (inReceptacle Statue_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__minus_01_dot_49 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_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26) + (inReceptacle TissueBox_bar__minus_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16 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 Statue_bar__plus_00_dot_67_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 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 CreditCard_bar__plus_00_dot_97_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 Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle KeyChain_bar__minus_00_dot_82_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 Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14 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_00_dot_91 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07) + (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 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 Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 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_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_97 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_51_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar__minus_2_bar__minus_1_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_12_bar__plus_00_dot_46_bar__plus_00_dot_91 loc_bar_4_bar_0_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_96_bar__plus_00_dot_51_bar__minus_01_dot_04 loc_bar__minus_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_69_bar__plus_01_dot_06_bar_00_dot_00 loc_bar__minus_16_bar__minus_3_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_04_dot_07_bar__plus_01_dot_07_bar__plus_00_dot_16 loc_bar__minus_16_bar__minus_3_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_1_bar_2_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_00_dot_59_bar__plus_00_dot_91_bar__plus_01_dot_14 loc_bar__minus_1_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_17 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_54_bar__minus_01_dot_32 loc_bar__minus_2_bar__minus_1_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__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_27 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_27_bar__plus_00_dot_66_bar__plus_01_dot_12 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_41_bar__plus_00_dot_76_bar__minus_01_dot_49 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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o LaptopType) + (receptacleType ?r SofaType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9f115bc663f47af9877bc89b319f77d664071cc6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014811_569477/traj_data.json @@ -0,0 +1,2656 @@ +{ + "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, + 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"CreditCard_a56cd598", + "position": { + "x": -1.96012342, + "y": 0.510191262, + "z": -1.0404048 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_6fa08eb0", + "position": { + "x": -3.78054142, + "y": 1.305, + "z": 0.457275361 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_462d92e0", + "position": { + "x": -0.97179544, + "y": 0.114890076, + "z": 1.19714463 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_50e690f5", + "position": { + "x": -4.06923676, + "y": 1.066724, + "z": 0.156272829 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Newspaper_932fe9f5", + "position": { + "x": -1.27691031, + "y": 0.8964504, + "z": 1.140554 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_5b568144", + "position": { + "x": 1.118, + "y": 0.4589965, + "z": 0.91350776 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_1d8d3594", + "position": { + "x": -0.589, + "y": 0.9082607, + "z": 1.140554 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_b9ed9b88", + "position": { + "x": -1.22670615, + "y": 0.133566022, + "z": 1.16571152 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_5b8bcfa9", + "position": { + "x": 0.7372426, + "y": 0.5369099, + "z": -1.31966329 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": 0.5104951, + "y": 0.5402018, + "z": -1.31966329 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_fbe5dbee", + "position": { + "x": 1.26798213, + "y": 0.656631947, + "z": 1.118 + }, + "rotation": { + "x": 0.0, + "y": -1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "Vase_6ea54dcc", + "position": { + "x": -0.5166645, + "y": 0.114890076, + "z": 1.20104086 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_d6a7b63c", + "position": { + "x": 0.667616963, + "y": 0.7585242, + "z": 0.9685203 + }, + "rotation": { + "x": 0.0, + "y": -1.70754731e-06, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4138727187, + "scene_num": 216 + }, + "task_id": "trial_T20190907_014811_569477", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A272X64FOZFYLB_33OOO72IVK2AT4KJYNNHY31VJUPTC0", + "high_descs": [ + "Turn around and head to the desk.", + "Close the laptop and pick it up.", + "Turn around and head to the sofa.", + "Put the laptop in the center of the sofa." + ], + "task_desc": "Move the laptop from the desk to the center of the sofa.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_36WLNQG782RPUGAGUS2ROXVCYZAEBW", + "high_descs": [ + "Turn left and walk to the wall then turn left and walk to the laptop.", + "Close the laptop then pick it up.", + "Turn left and walk until you are even with the couch on your left and then turn and walk to the couch so you are facing the right side of it.", + "Place the laptop in the middle of the couch." + ], + "task_desc": "Place a laptop on the couch cushions.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3TY7ZAOG5I1RWTZGSYG52BCYRSZK0Q", + "high_descs": [ + "Turn around and walk towards the laptop on the desk.", + "Close the laptop lid and pick it up from the desk.", + "Turn left, head towards the white vase on the right, and then turn left towards the sofa.", + "Place the laptop in the middle of the long sofa." + ], + "task_desc": "Move the laptop from the desk to the sofa.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a3d02928ae0b10e9c577cd1b4c856b7428eaf601 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/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 laptop on sofa.\"\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_014826_706738)\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_66_bar__plus_01_dot_27 - 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_71_bar__plus_00_dot_51_bar__minus_01_dot_46 - object\n Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12 - object\n LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object\n Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07 - 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__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13 - object\n Statue_bar__plus_01_dot_42_bar__plus_00_dot_76_bar__plus_00_dot_89 - object\n Statue_bar__plus_01_dot_75_bar__plus_00_dot_76_bar__minus_01_dot_26 - object\n Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 - 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_59_bar__plus_00_dot_90_bar__plus_01_dot_23 - 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_28_bar__plus_00_dot_90_bar__plus_01_dot_33 - object\n Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_bar__minus_01_dot_41 - object\n Vase_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 - object\n Vase_bar__minus_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39 - 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__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_0_bar_1_bar_0_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_11_bar_0_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 Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 StatueType)\n (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType)\n (objectType TissueBox_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_23 TissueBoxType)\n (objectType Vase_bar__minus_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39 VaseType)\n (objectType Statue_bar__plus_01_dot_75_bar__plus_00_dot_76_bar__minus_01_dot_26 StatueType)\n (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType)\n (objectType Vase_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 VaseType)\n (objectType Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12 LaptopType)\n (objectType KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_51_bar__minus_01_dot_46 KeyChainType)\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 CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_66_bar__plus_01_dot_27 CreditCardType)\n (objectType Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07 NewspaperType)\n (objectType Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_bar__minus_01_dot_41 VaseType)\n (objectType TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33 TissueBoxType)\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 Statue_bar__plus_01_dot_42_bar__plus_00_dot_76_bar__plus_00_dot_89 StatueType)\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 RemoteControl_bar__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13 RemoteControlType)\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 Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17)\n (pickupable TissueBox_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_23)\n (pickupable Vase_bar__minus_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39)\n (pickupable Statue_bar__plus_01_dot_75_bar__plus_00_dot_76_bar__minus_01_dot_26)\n (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25)\n (pickupable Vase_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23)\n (pickupable Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12)\n (pickupable KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_51_bar__minus_01_dot_46)\n (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24)\n (pickupable CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_66_bar__plus_01_dot_27)\n (pickupable Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07)\n (pickupable Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_bar__minus_01_dot_41)\n (pickupable TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33)\n (pickupable Statue_bar__plus_01_dot_42_bar__plus_00_dot_76_bar__plus_00_dot_89)\n (pickupable RemoteControl_bar__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13)\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_11_bar_0_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 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_75_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 Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_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 Vase_bar__minus_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39 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 RemoteControl_bar__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26)\n (inReceptacle CreditCard_bar__plus_01_dot_42_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 Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12)\n (inReceptacle Statue_bar__plus_01_dot_42_bar__plus_00_dot_76_bar__plus_00_dot_89 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__minus_00_dot_82_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 TissueBox_bar__minus_00_dot_59_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 TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07)\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 Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 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_75_bar__plus_00_dot_76_bar__minus_01_dot_26 loc_bar_6_bar__minus_2_bar_2_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 TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33 loc_bar__minus_1_bar_2_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_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39 loc_bar__minus_16_bar__minus_3_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60)\n (objectAtLocation Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07 loc_bar_4_bar_0_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_51_bar__minus_01_dot_46 loc_bar__minus_7_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_bar__minus_01_dot_41 loc_bar_6_bar__minus_2_bar_2_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_17 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__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13 loc_bar__minus_16_bar__minus_3_bar_0_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__plus_01_dot_42_bar__plus_00_dot_66_bar__plus_01_dot_27 loc_bar_4_bar_2_bar_0_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12 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_82_bar__plus_00_dot_90_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_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_42_bar__plus_00_dot_76_bar__plus_00_dot_89 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 (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o LaptopType)\n (receptacleType ?r SofaType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 2", "take laptop 1 from sidetable 2", "go to sofa 1", "move laptop 1 to sofa 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1ff96367ea5b2b99072086d7abb995d989efb363 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/initial_state.pddl @@ -0,0 +1,494 @@ + +(define (problem plan_trial_T20190907_014826_706738) +(: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_66_bar__plus_01_dot_27 - 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_71_bar__plus_00_dot_51_bar__minus_01_dot_46 - object + Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12 - object + LightSwitch_bar__minus_02_dot_46_bar__plus_01_dot_23_bar__minus_01_dot_95 - object + Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07 - 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__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13 - object + Statue_bar__plus_01_dot_42_bar__plus_00_dot_76_bar__plus_00_dot_89 - object + Statue_bar__plus_01_dot_75_bar__plus_00_dot_76_bar__minus_01_dot_26 - object + Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 - object + Television_bar__minus_00_dot_55_bar__plus_01_dot_52_bar__plus_01_dot_45 - object + TissueBox_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_23 - object + TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24 - object + TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33 - object + Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_bar__minus_01_dot_41 - object + Vase_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 - object + Vase_bar__minus_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39 - 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__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_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_0_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 Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 StatueType) + (objectType Window_bar__minus_02_dot_01_bar__plus_01_dot_50_bar__plus_01_dot_47 WindowType) + (objectType TissueBox_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_23 TissueBoxType) + (objectType Vase_bar__minus_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39 VaseType) + (objectType Statue_bar__plus_01_dot_75_bar__plus_00_dot_76_bar__minus_01_dot_26 StatueType) + (objectType Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25 PillowType) + (objectType Vase_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23 VaseType) + (objectType Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12 LaptopType) + (objectType KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_51_bar__minus_01_dot_46 KeyChainType) + (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 CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_66_bar__plus_01_dot_27 CreditCardType) + (objectType Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07 NewspaperType) + (objectType Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_bar__minus_01_dot_41 VaseType) + (objectType TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33 TissueBoxType) + (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 Statue_bar__plus_01_dot_42_bar__plus_00_dot_76_bar__plus_00_dot_89 StatueType) + (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 RemoteControl_bar__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13 RemoteControlType) + (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 Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17) + (pickupable TissueBox_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_23) + (pickupable Vase_bar__minus_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39) + (pickupable Statue_bar__plus_01_dot_75_bar__plus_00_dot_76_bar__minus_01_dot_26) + (pickupable Pillow_bar__minus_01_dot_83_bar__plus_00_dot_59_bar__minus_01_dot_25) + (pickupable Vase_bar__minus_00_dot_82_bar__plus_00_dot_90_bar__plus_01_dot_23) + (pickupable Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12) + (pickupable KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_51_bar__minus_01_dot_46) + (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_13_bar__plus_01_dot_24) + (pickupable CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_66_bar__plus_01_dot_27) + (pickupable Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07) + (pickupable Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_bar__minus_01_dot_41) + (pickupable TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33) + (pickupable Statue_bar__plus_01_dot_42_bar__plus_00_dot_76_bar__plus_00_dot_89) + (pickupable RemoteControl_bar__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13) + (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_11_bar_0_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 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_75_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 Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_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 Vase_bar__minus_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39 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 RemoteControl_bar__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13 DiningTable_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_26) + (inReceptacle CreditCard_bar__plus_01_dot_42_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 Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12 SideTable_bar__plus_01_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_12) + (inReceptacle Statue_bar__plus_01_dot_42_bar__plus_00_dot_76_bar__plus_00_dot_89 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__minus_00_dot_82_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 TissueBox_bar__minus_00_dot_59_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 TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33 SideTable_bar__minus_00_dot_59_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_52_bar__plus_01_dot_07) + (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 Statue_bar__minus_01_dot_23_bar__plus_00_dot_13_bar__plus_01_dot_17 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_75_bar__plus_00_dot_76_bar__minus_01_dot_26 loc_bar_6_bar__minus_2_bar_2_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 TissueBox_bar__minus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_33 loc_bar__minus_1_bar_2_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_04_dot_06_bar__plus_01_dot_06_bar__plus_00_dot_39 loc_bar__minus_16_bar__minus_3_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_59_bar__plus_00_dot_90_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_bar_0_bar_60) + (objectAtLocation Newspaper_bar__plus_01_dot_24_bar__plus_00_dot_46_bar__plus_01_dot_07 loc_bar_4_bar_0_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_51_bar__minus_01_dot_46 loc_bar__minus_7_bar__minus_2_bar_2_bar_45) + (objectAtLocation Vase_bar__plus_01_dot_49_bar__plus_00_dot_67_bar__minus_01_dot_41 loc_bar_6_bar__minus_2_bar_2_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_17 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__minus_03_dot_99_bar__plus_01_dot_07_bar__plus_00_dot_13 loc_bar__minus_16_bar__minus_3_bar_0_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__plus_01_dot_42_bar__plus_00_dot_66_bar__plus_01_dot_27 loc_bar_4_bar_2_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_97_bar__plus_00_dot_66_bar__plus_01_dot_12 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_82_bar__plus_00_dot_90_bar__plus_01_dot_23 loc_bar__minus_1_bar_2_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_42_bar__plus_00_dot_76_bar__plus_00_dot_89 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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o LaptopType) + (receptacleType ?r SofaType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f1d77e3947b903a68183e51f1ed029dc48f0db76 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Laptop-None-Sofa-216/trial_T20190907_014826_706738/traj_data.json @@ -0,0 +1,2856 @@ +{ + "images": [ + 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}, + { + "objectName": "KeyChain_5b568144", + "position": { + "x": -1.70587659, + "y": 0.510895252, + "z": -1.46144724 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_1d8d3594", + "position": { + "x": 1.49213433, + "y": 0.665370643, + "z": -1.41366136 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_b9ed9b88", + "position": { + "x": -1.22670615, + "y": 0.133566022, + "z": 1.16571152 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_5b8bcfa9", + "position": { + "x": -3.98550582, + "y": 1.066388, + "z": 0.1303755 + }, + "rotation": { + "x": 0.0, + "y": 44.83492, + "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": 1.41807342, + "y": 0.656996, + "z": 1.26747978 + }, + "rotation": { + "x": 0.0, + "y": -1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "Laptop_fbe5dbee", + "position": { + "x": 0.967799544, + "y": 0.655, + "z": 1.118 + }, + "rotation": { + "x": 0.0, + "y": -1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "Vase_6ea54dcc", + "position": { + "x": -0.8183034, + "y": 0.902966, + "z": 1.23403287 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_d6a7b63c", + "position": { + "x": 1.74530458, + "y": 0.757586241, + "z": -1.262984 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2948937866, + "scene_num": 216 + }, + "task_id": "trial_T20190907_014826_706738", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2TOL27LWBR7XG_33FOTY3KEP29KK8AW437SXI0RC5C1J", + "high_descs": [ + "Turn left, then walk to the desk on the left in the corner by the window.", + "Close the laptop on the desk, then pick it up.", + "Turn to your left, then go to the couch on the left.", + "Put the laptop on the couch." + ], + "task_desc": "Move the laptop from the desk to the couch.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_36H9ULYP65BNID8ODVZE43ZPI6UJF2", + "high_descs": [ + "Turn left and walk across the room, then hang left and walk up to the desk with a laptop on it.", + "Close the lid of the laptop and pick it up off the desk.", + "Turn left and begin walking across the room, then hang a left and walk up to the couch.", + "Place the laptop with the lid closed onto the seat of the couch." + ], + "task_desc": "Place a closed laptop onto the seat of a couch.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3LRLIPTPETQNX6XYK0DYRHOB0G4KAE", + "high_descs": [ + "Turn to your left and go the furthest table in front of the window.", + "Close and pick up the lap top on the table.", + "Turn to the left and go to the couch to your left.", + "Put the lap top on the middle of the couch." + ], + "task_desc": "Put the lap top onto the couch.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..87531c76d3012f55f1a4e582a576deb3878eb20e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/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 spraybottle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_110920_840864)\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_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object\n Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59 - object\n Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13 - object\n Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43 - object\n Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53 - object\n Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object\n Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object\n Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object\n HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object\n LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object\n Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object\n Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object\n ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object\n ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object\n ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object\n SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06 - object\n SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08 - object\n SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82 - object\n SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37 - object\n ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79 - object\n ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 - object\n ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object\n Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object\n Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle\n CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle\n GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle\n HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle\n Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle\n TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle\n TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle\n loc_bar__minus_3_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_1_bar_0 - location\n loc_bar__minus_9_bar_9_bar_0_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar_1_bar_13_bar_1_bar__minus_15 - location\n loc_bar__minus_9_bar_9_bar_2_bar_60 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_2_bar_15 - location\n loc_bar__minus_3_bar_9_bar_1_bar_45 - location\n loc_bar__minus_6_bar_5_bar_3_bar_30 - location\n loc_bar__minus_4_bar_13_bar_3_bar_30 - location\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar_1_bar_13_bar_1_bar_60 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_9_bar_2_bar_45 - location\n loc_bar__minus_9_bar_9_bar_3_bar_60 - location\n loc_bar_1_bar_14_bar_0_bar_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_3_bar_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType)\n (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType)\n (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType)\n (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType)\n (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType)\n (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType)\n (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType)\n (objectType SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08 SoapBarType)\n (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType)\n (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType)\n (objectType Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59 CandleType)\n (objectType ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 ToiletPaperType)\n (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType)\n (objectType SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06 SoapBarType)\n (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType)\n (objectType ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79 ToiletPaperType)\n (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType)\n (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType)\n (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType)\n (objectType Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43 CandleType)\n (objectType SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37 SprayBottleType)\n (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49 ToiletPaperType)\n (objectType Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13 CandleType)\n (objectType Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53 ClothType)\n (objectType SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82 SoapBottleType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType)\n (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 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 (canContain TowelHolderType TowelType)\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 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 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 TowelHolderType TowelType)\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 (pickupable SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08)\n (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13)\n (pickupable Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59)\n (pickupable ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06)\n (pickupable SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06)\n (pickupable ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79)\n (pickupable Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43)\n (pickupable SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37)\n (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20)\n (pickupable ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49)\n (pickupable Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13)\n (pickupable Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53)\n (pickupable SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13)\n (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99)\n \n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49)\n \n (atLocation agent1 loc_bar__minus_3_bar_5_bar_3_bar_30)\n \n (cleanable SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08)\n (cleanable SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06)\n (cleanable Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (inReceptacle Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (inReceptacle SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03)\n (inReceptacle ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04)\n (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13)\n (inReceptacle SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 loc_bar_1_bar_13_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15)\n (objectAtLocation SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37 loc_bar__minus_1_bar_8_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 SprayBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take spraybottle 1 from countertop 1", "go to toilet 1", "move spraybottle 1 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3f51b85b0c776ff8548337cb0973934d993b0c3b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/initial_state.pddl @@ -0,0 +1,473 @@ + +(define (problem plan_trial_T20190909_110920_840864) +(: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_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object + Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59 - object + Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13 - object + Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43 - object + Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53 - object + Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object + Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object + Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object + HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object + LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object + Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object + Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object + ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object + ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object + ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object + Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object + SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06 - object + SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08 - object + SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82 - object + SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37 - object + ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79 - object + ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 - object + ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49 - object + Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object + Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object + Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object + Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle + CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle + CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle + GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle + HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle + Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle + Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle + TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle + TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle + loc_bar__minus_3_bar_6_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_1_bar_0 - location + loc_bar__minus_9_bar_9_bar_0_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_0 - location + loc_bar_1_bar_13_bar_1_bar__minus_15 - location + loc_bar__minus_9_bar_9_bar_2_bar_60 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_2_bar_15 - location + loc_bar__minus_3_bar_9_bar_1_bar_45 - location + loc_bar__minus_6_bar_5_bar_3_bar_30 - location + loc_bar__minus_4_bar_13_bar_3_bar_30 - location + loc_bar__minus_3_bar_8_bar_1_bar_45 - location + loc_bar__minus_1_bar_8_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_1_bar_30 - location + loc_bar_1_bar_13_bar_1_bar_60 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar__minus_7_bar_9_bar_2_bar_45 - location + loc_bar__minus_9_bar_9_bar_3_bar_60 - location + loc_bar_1_bar_14_bar_0_bar_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType) + (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType) + (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType) + (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType) + (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType) + (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType) + (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType) + (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType) + (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType) + (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType) + (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType) + (objectType SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08 SoapBarType) + (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType) + (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType) + (objectType Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59 CandleType) + (objectType ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 ToiletPaperType) + (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType) + (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType) + (objectType SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06 SoapBarType) + (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType) + (objectType ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79 ToiletPaperType) + (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType) + (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType) + (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType) + (objectType Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43 CandleType) + (objectType SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37 SprayBottleType) + (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType) + (objectType ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49 ToiletPaperType) + (objectType Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13 CandleType) + (objectType Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53 ClothType) + (objectType SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82 SoapBottleType) + (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType) + (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (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 TowelHolderType TowelType) + (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) + (pickupable SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08) + (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13) + (pickupable Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59) + (pickupable ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06) + (pickupable SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06) + (pickupable ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79) + (pickupable Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43) + (pickupable SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37) + (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20) + (pickupable ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49) + (pickupable Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13) + (pickupable Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53) + (pickupable SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82) + (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13) + (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99) + + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49) + + (atLocation agent1 loc_bar__minus_3_bar_5_bar_3_bar_30) + + (cleanable SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08) + (cleanable SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06) + (cleanable Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49) + (inReceptacle Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49) + (inReceptacle SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96) + (inReceptacle SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96) + (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03) + (inReceptacle ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04) + (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin) + (inReceptacle SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin) + (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin) + (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13) + (inReceptacle SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63) + (inReceptacle Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63) + (inReceptacle ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63) + + + (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15) + (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30) + (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15) + (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30) + (objectAtLocation Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_13 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__plus_00_dot_76_bar__plus_00_dot_12_bar__plus_03_dot_06 loc_bar_1_bar_13_bar_1_bar_60) + (objectAtLocation SoapBar_bar__plus_00_dot_73_bar__plus_00_dot_74_bar__plus_01_dot_08 loc_bar__minus_1_bar_8_bar_1_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_52_bar__plus_00_dot_49_bar__plus_01_dot_59 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30) + (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0) + (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45) + (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30) + (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0) + (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15) + (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15) + (objectAtLocation SoapBar_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_02_dot_06 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_49 loc_bar__minus_9_bar_9_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_52_bar__plus_01_dot_05_bar__plus_01_dot_82 loc_bar__minus_9_bar_9_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30) + (objectAtLocation ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_79 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_00_dot_11_bar__plus_00_dot_18_bar__plus_00_dot_53 loc_bar__minus_3_bar_6_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_49_bar__plus_01_dot_04_bar__plus_01_dot_43 loc_bar__minus_9_bar_9_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_37 loc_bar__minus_1_bar_8_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SprayBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..1c7534df10a8a333f14f548e23c7115947844da0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110920_840864/traj_data.json @@ -0,0 +1,2171 @@ +{ + "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": 1 + }, + { + "high_idx": 0, + "image_name": "000000014.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000015.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000016.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000017.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000018.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000019.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000020.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000021.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000022.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000023.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000024.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000025.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000026.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000027.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000028.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000029.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000030.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000031.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000032.png", + "low_idx": 3 + }, + 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+ "y": 0.181003422, + "z": 0.5271832 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_5a59e3f6", + "position": { + "x": -2.21788239, + "y": 0.585292, + "z": 0.133743465 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_52e0ddc4", + "position": { + "x": 0.80945003, + "y": 0.7431041, + "z": 1.369929 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3303165325, + "scene_num": 411 + }, + "task_id": "trial_T20190909_110920_840864", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A4UAFZ5LW71K_3A9AA95ATZDZNG4VY4G6G9EQXN4P5T", + "high_descs": [ + "turn around, walk to the counter", + "pick up the spray bottle that is on the counter", + "turn left, take two steps, turn left, walk to wall, turn left to face toilet", + "put the spray bottle on the back of the toilet" + ], + "task_desc": "move spray bottle from counter to back of toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_3E4GGUZ1TBI6DSOS3T90MLPFJ2HK2U", + "high_descs": [ + "Turn around and walk to the counter.", + "Pick up the purple spray bottle from the counter.", + "Turn around and walk to the right side of the toilet.", + "Put the spray bottle on the toilet between the dispenser and toilet paper." + ], + "task_desc": "Put a spray bottle on top of the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3SKEMFQBZ6WHZ7QHJAI1WC2I5268KI", + "high_descs": [ + "Turn around and walk to the counter on the right of the sink.", + "Pick up the purple spray bottle on the counter.", + "Turn around and walk to the right side of the toilet.", + "Place the spray bottle on the toilet tank lid in front of the soap dispenser." + ], + "task_desc": "Place a spray bottle on a toilet tank.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b591e193e10a9133b24f6f12ac5367732f11d0ac --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/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 spraybottle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_110934_367159)\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_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object\n Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56 - object\n Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69 - object\n Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57 - object\n Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 - object\n Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53 - object\n Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object\n Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object\n Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object\n HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object\n LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object\n Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object\n Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object\n ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object\n ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object\n ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object\n SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 - object\n SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25 - object\n SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13 - object\n ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37 - object\n ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73 - object\n ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object\n Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 - object\n Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object\n Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle\n CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle\n GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle\n HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle\n Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle\n TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle\n TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle\n loc_bar__minus_3_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_1_bar_0 - location\n loc_bar__minus_9_bar_9_bar_0_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar_1_bar_13_bar_1_bar__minus_15 - location\n loc_bar__minus_9_bar_9_bar_2_bar_60 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_2_bar_15 - location\n loc_bar__minus_3_bar_9_bar_1_bar_45 - location\n loc_bar__minus_6_bar_5_bar_3_bar_30 - location\n loc_bar__minus_4_bar_13_bar_3_bar_30 - location\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar_1_bar_13_bar_1_bar_60 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_9_bar_2_bar_45 - location\n loc_bar__minus_9_bar_9_bar_3_bar_60 - location\n loc_bar_1_bar_14_bar_0_bar_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_2_bar_7_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType)\n (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType)\n (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType)\n (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType)\n (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType)\n (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType)\n (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType)\n (objectType ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37 ToiletPaperType)\n (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType)\n (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType)\n (objectType ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06 ToiletPaperType)\n (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType)\n (objectType Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53 ClothType)\n (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType)\n (objectType SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 SoapBarType)\n (objectType Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57 ClothType)\n (objectType Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 TowelType)\n (objectType Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56 CandleType)\n (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType)\n (objectType ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73 ToiletPaperType)\n (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType)\n (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType)\n (objectType Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 ClothType)\n (objectType SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13 SprayBottleType)\n (objectType Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69 CandleType)\n (objectType SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25 SoapBottleType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType)\n (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 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 (canContain TowelHolderType TowelType)\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 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 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 TowelHolderType TowelType)\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 (pickupable ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37)\n (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13)\n (pickupable ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06)\n (pickupable Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53)\n (pickupable SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42)\n (pickupable Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57)\n (pickupable Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50)\n (pickupable Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56)\n (pickupable ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73)\n (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20)\n (pickupable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85)\n (pickupable SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13)\n (pickupable Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69)\n (pickupable SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13)\n (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99)\n \n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49)\n \n (atLocation agent1 loc_bar__minus_2_bar_7_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53)\n (cleanable SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42)\n (cleanable Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57)\n (cleanable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (inReceptacle ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03)\n (inReceptacle ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06 GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04)\n (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13)\n (inReceptacle Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n (inReceptacle Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15)\n (objectAtLocation Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (objectAtLocation Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06 loc_bar_1_bar_13_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13 loc_bar__minus_7_bar_9_bar_2_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 SprayBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take spraybottle 1 from countertop 2", "go to toilet 1", "move spraybottle 1 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..91055360b9098c8dc4148cf457c3b58cda83d010 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/initial_state.pddl @@ -0,0 +1,479 @@ + +(define (problem plan_trial_T20190909_110934_367159) +(: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_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object + Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56 - object + Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69 - object + Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57 - object + Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 - object + Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53 - object + Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object + Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object + Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object + HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object + LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object + Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object + Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object + ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object + ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object + ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object + Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object + SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 - object + SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25 - object + SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13 - object + ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37 - object + ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73 - object + ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06 - object + Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object + Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 - object + Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object + Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object + Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle + CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle + CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle + GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle + HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle + Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle + Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle + TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle + TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle + loc_bar__minus_3_bar_6_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_1_bar_0 - location + loc_bar__minus_9_bar_9_bar_0_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_0 - location + loc_bar_1_bar_13_bar_1_bar__minus_15 - location + loc_bar__minus_9_bar_9_bar_2_bar_60 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_2_bar_15 - location + loc_bar__minus_3_bar_9_bar_1_bar_45 - location + loc_bar__minus_6_bar_5_bar_3_bar_30 - location + loc_bar__minus_4_bar_13_bar_3_bar_30 - location + loc_bar__minus_3_bar_8_bar_1_bar_45 - location + loc_bar__minus_1_bar_8_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_1_bar_30 - location + loc_bar_1_bar_13_bar_1_bar_60 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar__minus_7_bar_9_bar_2_bar_45 - location + loc_bar__minus_9_bar_9_bar_3_bar_60 - location + loc_bar_1_bar_14_bar_0_bar_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_2_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType) + (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType) + (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType) + (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType) + (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType) + (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType) + (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType) + (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType) + (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType) + (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType) + (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType) + (objectType ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37 ToiletPaperType) + (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType) + (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType) + (objectType ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06 ToiletPaperType) + (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType) + (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType) + (objectType Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53 ClothType) + (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType) + (objectType SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 SoapBarType) + (objectType Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57 ClothType) + (objectType Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 TowelType) + (objectType Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56 CandleType) + (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType) + (objectType ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73 ToiletPaperType) + (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType) + (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType) + (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType) + (objectType Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 ClothType) + (objectType SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13 SprayBottleType) + (objectType Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69 CandleType) + (objectType SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25 SoapBottleType) + (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType) + (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (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 TowelHolderType TowelType) + (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) + (pickupable ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37) + (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13) + (pickupable ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06) + (pickupable Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53) + (pickupable SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42) + (pickupable Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57) + (pickupable Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50) + (pickupable Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56) + (pickupable ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73) + (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20) + (pickupable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85) + (pickupable SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13) + (pickupable Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69) + (pickupable SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25) + (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13) + (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99) + + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49) + + (atLocation agent1 loc_bar__minus_2_bar_7_bar_0_bar_30) + + (cleanable Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53) + (cleanable SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42) + (cleanable Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57) + (cleanable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96) + (inReceptacle Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96) + (inReceptacle SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42) + (inReceptacle ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42) + (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50) + (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03) + (inReceptacle ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06 GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04) + (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin) + (inReceptacle Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin) + (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin) + (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13) + (inReceptacle Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63) + (inReceptacle Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63) + + + (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15) + (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30) + (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15) + (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30) + (objectAtLocation Candle_bar__minus_02_dot_59_bar__plus_01_dot_04_bar__plus_01_dot_69 loc_bar__minus_9_bar_9_bar_2_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_37 loc_bar__minus_1_bar_8_bar_1_bar_45) + (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15) + (objectAtLocation Cloth_bar__minus_00_dot_50_bar__plus_00_dot_18_bar__plus_00_dot_53 loc_bar__minus_3_bar_6_bar_2_bar_60) + (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30) + (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0) + (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45) + (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30) + (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0) + (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15) + (objectAtLocation Towel_bar__plus_00_dot_93_bar__plus_01_dot_19_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30) + (objectAtLocation SoapBar_bar__plus_00_dot_69_bar__plus_00_dot_25_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__plus_00_dot_52_bar__plus_00_dot_25_bar__plus_02_dot_73 loc_bar__minus_3_bar_8_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_25 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30) + (objectAtLocation ToiletPaper_bar__plus_00_dot_79_bar__plus_00_dot_11_bar__plus_03_dot_06 loc_bar_1_bar_13_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_66_bar__plus_00_dot_74_bar__plus_02_dot_57 loc_bar__minus_1_bar_8_bar_1_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_56_bar__plus_01_dot_04_bar__plus_01_dot_56 loc_bar__minus_9_bar_9_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_10_bar__plus_00_dot_59_bar__plus_00_dot_13 loc_bar__minus_7_bar_9_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SprayBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0692f0043bc60ceac7373daa8c66ae54bbfe1f89 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110934_367159/traj_data.json @@ -0,0 +1,2232 @@ +{ + "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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of the toilet" + ], + "task_desc": "move the spray bottle from the bath tub to the top of the toilet ", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A11IIS435RPN2O_3NL0RFNU0IEGG63F77SOF0MD4WHK4R", + "high_descs": [ + "Turn left and go three steps then turn right go to bath tub.", + "Pick up the purple spray bottle from the tub.", + "Turn right go 4 steps then turn left and go towards the wall then turn left towards the toilet tank.", + "Put the Spray bottle above the tank." + ], + "task_desc": "Move the Spray bottle from Bath tub to Toilet Tank.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..460f6534eec02a4761b6fd08aa753799bbc84110 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/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 spraybottle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_110956_758459)\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_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object\n Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60 - object\n Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 - object\n Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72 - object\n Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object\n Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object\n Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object\n HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object\n LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object\n Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object\n Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object\n ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object\n ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object\n ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object\n SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25 - object\n SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49 - object\n SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30 - object\n SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37 - object\n SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 - object\n SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84 - object\n ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38 - object\n ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02 - object\n ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 - object\n Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object\n Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object\n Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object\n Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle\n CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle\n CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle\n Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle\n GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle\n HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle\n Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle\n Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle\n TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle\n TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle\n loc_bar__minus_3_bar_6_bar_2_bar_60 - location\n loc_bar_0_bar_8_bar_1_bar_0 - location\n loc_bar__minus_9_bar_9_bar_0_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_0 - location\n loc_bar_1_bar_13_bar_1_bar__minus_15 - location\n loc_bar__minus_9_bar_9_bar_2_bar_60 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_2_bar_15 - location\n loc_bar__minus_3_bar_9_bar_1_bar_45 - location\n loc_bar__minus_6_bar_5_bar_3_bar_30 - location\n loc_bar__minus_4_bar_13_bar_3_bar_30 - location\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar_1_bar_13_bar_1_bar_60 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_9_bar_2_bar_45 - location\n loc_bar__minus_9_bar_9_bar_3_bar_60 - location\n loc_bar_1_bar_14_bar_0_bar_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_3_bar_15_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType)\n (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType)\n (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType)\n (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType)\n (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType)\n (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType)\n (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType)\n (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType)\n (objectType ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02 ToiletPaperType)\n (objectType ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38 ToiletPaperType)\n (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType)\n (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType)\n (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType)\n (objectType SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84 SprayBottleType)\n (objectType Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72 ClothType)\n (objectType Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60 CandleType)\n (objectType SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37 SprayBottleType)\n (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType)\n (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType)\n (objectType SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25 SoapBarType)\n (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType)\n (objectType SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 SprayBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 ToiletPaperType)\n (objectType SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30 SprayBottleType)\n (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType)\n (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType)\n (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType)\n (objectType Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 ClothType)\n (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType)\n (objectType SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49 SoapBottleType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 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 (canContain TowelHolderType TowelType)\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 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 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 TowelHolderType TowelType)\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 (pickupable ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02)\n (pickupable ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38)\n (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99)\n (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13)\n (pickupable SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84)\n (pickupable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72)\n (pickupable Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60)\n (pickupable SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37)\n (pickupable SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25)\n (pickupable SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25)\n (pickupable ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24)\n (pickupable SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30)\n (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20)\n (pickupable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85)\n (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13)\n (pickupable SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49)\n \n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42)\n (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49)\n \n (atLocation agent1 loc_bar__minus_3_bar_15_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72)\n (cleanable SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25)\n (cleanable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49)\n (inReceptacle SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96)\n (inReceptacle Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53)\n (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03)\n (inReceptacle ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20)\n (inReceptacle ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02 GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04)\n (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin)\n (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin)\n (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13)\n (inReceptacle SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63)\n \n \n (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15)\n (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (objectAtLocation SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30)\n (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0)\n (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45)\n (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15)\n (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15)\n (objectAtLocation SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49 loc_bar__minus_9_bar_9_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02 loc_bar_1_bar_13_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30 loc_bar__minus_1_bar_8_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 SprayBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take spraybottle 3 from countertop 1", "go to toilet 1", "move spraybottle 3 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a1bb52f5c27ecf7dc3f8ce1f02696f5726c1106b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/initial_state.pddl @@ -0,0 +1,478 @@ + +(define (problem plan_trial_T20190909_110956_758459) +(: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_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 - object + Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60 - object + Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 - object + Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72 - object + Faucet_bar__plus_00_dot_32_bar__plus_00_dot_63_bar__plus_00_dot_48 - object + Faucet_bar__plus_01_dot_05_bar__plus_01_dot_04_bar__plus_01_dot_92 - object + Faucet_bar__minus_02_dot_62_bar__plus_01_dot_82_bar__plus_03_dot_36 - object + HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 - object + LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 - object + Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 - object + Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 - object + ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 - object + ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 - object + ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 - object + Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 - object + SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25 - object + SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49 - object + SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30 - object + SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37 - object + SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 - object + SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84 - object + ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38 - object + ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02 - object + ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 - object + Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 - object + Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 - object + Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 - object + Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin - receptacle + CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 - receptacle + CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 - receptacle + GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 - receptacle + HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 - receptacle + Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 - receptacle + Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 - receptacle + TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 - receptacle + TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 - receptacle + loc_bar__minus_3_bar_6_bar_2_bar_60 - location + loc_bar_0_bar_8_bar_1_bar_0 - location + loc_bar__minus_9_bar_9_bar_0_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_0 - location + loc_bar_1_bar_13_bar_1_bar__minus_15 - location + loc_bar__minus_9_bar_9_bar_2_bar_60 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_2_bar_15 - location + loc_bar__minus_3_bar_9_bar_1_bar_45 - location + loc_bar__minus_6_bar_5_bar_3_bar_30 - location + loc_bar__minus_4_bar_13_bar_3_bar_30 - location + loc_bar__minus_3_bar_8_bar_1_bar_45 - location + loc_bar__minus_1_bar_8_bar_1_bar_45 - location + loc_bar_0_bar_5_bar_1_bar_30 - location + loc_bar_1_bar_13_bar_1_bar_60 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar__minus_7_bar_9_bar_2_bar_45 - location + loc_bar__minus_9_bar_9_bar_3_bar_60 - location + loc_bar_1_bar_14_bar_0_bar_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_3_bar_15_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 ToiletPaperHangerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 DrawerType) + (receptacleType CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 DrawerType) + (receptacleType TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 TowelHolderType) + (receptacleType GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 GarbageCanType) + (receptacleType Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 ToiletType) + (receptacleType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 DrawerType) + (receptacleType TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 TowelHolderType) + (receptacleType CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 CounterTopType) + (receptacleType HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 HandTowelHolderType) + (receptacleType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin SinkBasinType) + (objectType Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 BathtubType) + (objectType ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02 ToiletPaperType) + (objectType ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38 ToiletPaperType) + (objectType Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 MirrorType) + (objectType Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 PlungerType) + (objectType HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelType) + (objectType SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72 ClothType) + (objectType Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60 CandleType) + (objectType SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37 SprayBottleType) + (objectType ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 ShowerGlassType) + (objectType Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 WindowType) + (objectType SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25 SoapBarType) + (objectType ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 ShowerDoorType) + (objectType SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 SprayBottleType) + (objectType ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 ToiletPaperType) + (objectType SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30 SprayBottleType) + (objectType Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 SinkType) + (objectType Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 WindowType) + (objectType LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 LightSwitchType) + (objectType ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 ScrubBrushType) + (objectType Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 ClothType) + (objectType Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelType) + (objectType SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49 SoapBottleType) + (canContain ToiletPaperHangerType ToiletPaperType) + (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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (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 TowelHolderType TowelType) + (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) + (pickupable ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02) + (pickupable ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38) + (pickupable Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99) + (pickupable HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13) + (pickupable SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84) + (pickupable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72) + (pickupable Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60) + (pickupable SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37) + (pickupable SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25) + (pickupable SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25) + (pickupable ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24) + (pickupable SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30) + (pickupable ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20) + (pickupable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85) + (pickupable Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13) + (pickupable SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49) + + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49) + + (atLocation agent1 loc_bar__minus_3_bar_15_bar_0_bar_30) + + (cleanable Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72) + (cleanable SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25) + (cleanable Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49) + (inReceptacle SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30 CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96) + (inReceptacle Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53) + (inReceptacle Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03) + (inReceptacle ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20) + (inReceptacle ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02 GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04) + (inReceptacle Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin) + (inReceptacle Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin) + (inReceptacle Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin) + (inReceptacle HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13) + (inReceptacle SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49 Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63) + + + (receptacleAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43_bar_BathtubBasin loc_bar__minus_3_bar_6_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_01_dot_96 loc_bar__minus_1_bar_8_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_16_bar__plus_00_dot_53 loc_bar__minus_7_bar_9_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_01_dot_49 loc_bar__minus_4_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_32_bar__plus_02_dot_42 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_01_dot_49 loc_bar__minus_3_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_42 loc_bar__minus_3_bar_9_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_78_bar__plus_00_dot_07_bar__plus_03_dot_04 loc_bar_1_bar_13_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_01_dot_07_bar__plus_01_dot_77_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15) + (receptacleAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92_bar_SinkBasin loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_01_dot_20 loc_bar__minus_6_bar_5_bar_3_bar_30) + (receptacleAtLocation Toilet_bar__minus_02_dot_23_bar__plus_00_dot_00_bar__plus_01_dot_63 loc_bar__minus_9_bar_9_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_47_bar__plus_01_dot_17_bar__plus_00_dot_03 loc_bar_0_bar_5_bar_2_bar_15) + (receptacleAtLocation TowelHolder_bar__plus_01_dot_04_bar__plus_01_dot_18_bar__plus_00_dot_50 loc_bar_0_bar_5_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__plus_00_dot_68_bar__plus_00_dot_59_bar__plus_00_dot_25 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation Cloth_bar__plus_00_dot_68_bar__plus_00_dot_83_bar__plus_01_dot_85 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_63_bar__plus_00_dot_79_bar__plus_01_dot_24 loc_bar__minus_6_bar_5_bar_3_bar_30) + (objectAtLocation SprayBottle_bar__plus_00_dot_55_bar__plus_00_dot_59_bar__plus_00_dot_37 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_59_bar__plus_00_dot_84 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation Window_bar__minus_02_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_51 loc_bar__minus_6_bar_5_bar_3_bar_30) + (objectAtLocation Bathtub_bar__minus_01_dot_06_bar__plus_00_dot_30_bar__plus_00_dot_43 loc_bar__minus_3_bar_6_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_99_bar__plus_01_dot_68_bar__plus_01_dot_90 loc_bar_0_bar_8_bar_1_bar_0) + (objectAtLocation ShowerDoor_bar__minus_02_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_80 loc_bar__minus_9_bar_9_bar_0_bar_45) + (objectAtLocation ShowerGlass_bar__minus_01_dot_71_bar__plus_01_dot_28_bar__plus_03_dot_30 loc_bar__minus_4_bar_13_bar_3_bar_30) + (objectAtLocation Sink_bar__plus_00_dot_81_bar__plus_00_dot_70_bar__plus_01_dot_92 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_96_bar__plus_01_dot_56_bar__minus_00_dot_06 loc_bar__minus_4_bar_5_bar_2_bar_0) + (objectAtLocation HandTowel_bar__plus_01_dot_03_bar__plus_01_dot_67_bar__plus_03_dot_13 loc_bar_1_bar_13_bar_1_bar__minus_15) + (objectAtLocation Towel_bar__plus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_13 loc_bar_0_bar_5_bar_2_bar_15) + (objectAtLocation SoapBar_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_25 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__plus_00_dot_69_bar__plus_00_dot_49_bar__plus_01_dot_38 loc_bar__minus_3_bar_5_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_59_bar__plus_01_dot_05_bar__plus_01_dot_49 loc_bar__minus_9_bar_9_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_22_bar__plus_01_dot_42_bar__plus_04_dot_00 loc_bar_1_bar_14_bar_0_bar_30) + (objectAtLocation ToiletPaper_bar__plus_00_dot_82_bar__plus_00_dot_11_bar__plus_03_dot_02 loc_bar_1_bar_13_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_02_dot_56_bar__plus_00_dot_00_bar__plus_02_dot_20 loc_bar__minus_9_bar_9_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_02_dot_57_bar__plus_00_dot_00_bar__plus_01_dot_99 loc_bar__minus_9_bar_9_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_46_bar__plus_00_dot_59_bar__plus_00_dot_72 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_22_bar__plus_00_dot_59_bar__plus_00_dot_60 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__plus_00_dot_43_bar__plus_00_dot_74_bar__plus_01_dot_30 loc_bar__minus_1_bar_8_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SprayBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..49d122e9a83323af99bacc00361a9a744b907ec3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-411/trial_T20190909_110956_758459/traj_data.json @@ -0,0 +1,2409 @@ +{ + "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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immediately after the toilet turn a quick left to face the side of the toilet", + "Place the purple spray bottle on the toilet in front of the soap bottle" + ], + "task_desc": "Place a spray bottle on the back of a toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3ZDAD0O1T446HRHCLR8LD267FPQTX3", + "high_descs": [ + "Turn around and cross the room to face the tub.", + "Pick the purple bottle up from behind the tub.", + "Turn around and go left to face the toilet from the right side.", + "Put the bottle down on the back of the toilet." + ], + "task_desc": "Put a bottle on the back of a toilet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cf4b21d5a9029d1f52074f8785dcfbe30f475277 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/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 spraybottle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_124852_071149)\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_45_bar__plus_00_dot_18_bar__plus_01_dot_03 - object\n Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21 - object\n Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14 - object\n Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24 - object\n Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41 - object\n Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43 - object\n Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_96_bar__plus_00_dot_18 - object\n Faucet_bar__minus_03_dot_52_bar__plus_01_dot_72_bar__plus_01_dot_78 - object\n HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 - object\n Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 - object\n ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 - object\n ShowerCurtain_bar__minus_03_dot_39_bar__plus_02_dot_44_bar__plus_00_dot_27 - object\n Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 - object\n SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67 - object\n SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31 - object\n SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10 - object\n SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21 - object\n SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30 - object\n SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17 - object\n SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21 - object\n TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 - object\n ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64 - object\n Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 - object\n Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 - object\n Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle\n Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 - receptacle\n Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 - receptacle\n Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle\n CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 - receptacle\n CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 - receptacle\n Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 - receptacle\n HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 - receptacle\n Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 - receptacle\n Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 - receptacle\n Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle\n Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 - receptacle\n TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_2_bar_4_bar_2_bar_60 - location\n loc_bar__minus_12_bar_5_bar_3_bar_60 - location\n loc_bar__minus_8_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar_9_bar_1_bar_60 - location\n loc_bar__minus_3_bar_5_bar_2_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_30 - location\n loc_bar__minus_8_bar_6_bar_0_bar_60 - location\n loc_bar__minus_10_bar_5_bar_3_bar_60 - location\n loc_bar__minus_6_bar_3_bar_2_bar_30 - location\n loc_bar__minus_12_bar_5_bar_3_bar_30 - location\n loc_bar__minus_5_bar_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar_9_bar_0_bar_60 - location\n loc_bar__minus_10_bar_3_bar_1_bar_60 - location\n loc_bar__minus_5_bar_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_9_bar_3_bar_45 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_60 - location\n loc_bar__minus_5_bar_6_bar_2_bar_60 - location\n loc_bar__minus_8_bar_3_bar_2_bar_60 - location\n loc_bar__minus_10_bar_3_bar_2_bar_45 - location\n loc_bar__minus_12_bar_4_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 DrawerType)\n (receptacleType CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 CounterTopType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin BathtubBasinType)\n (receptacleType Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 ShelfType)\n (receptacleType Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 CabinetType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 ToiletType)\n (objectType HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelType)\n (objectType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 SinkType)\n (objectType Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24 CandleType)\n (objectType TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35 TissueBoxType)\n (objectType SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67 SoapBarType)\n (objectType Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 ToiletPaperType)\n (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17 SprayBottleType)\n (objectType Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 WindowType)\n (objectType ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64 ToiletPaperType)\n (objectType Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 PlungerType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 MirrorType)\n (objectType ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 ScrubBrushType)\n (objectType SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21 SprayBottleType)\n (objectType Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41 ClothType)\n (objectType Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 ClothType)\n (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10 SoapBottleType)\n (objectType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 BathtubType)\n (objectType SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30 SprayBottleType)\n (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 LightSwitchType)\n (objectType Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelType)\n (objectType Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21 CandleType)\n (objectType SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14 CandleType)\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 TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\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 TissueBoxType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\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 TissueBoxType)\n (canContain DrawerType 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 TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (canContain GarbageCanType SoapBarType)\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 HandTowelHolderType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\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 TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\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 TissueBoxType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\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 TissueBoxType)\n (canContain DrawerType 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 TissueBoxType)\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 TissueBoxType)\n (canContain CounterTopType 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 ToiletType TissueBoxType)\n (pickupable HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04)\n (pickupable Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24)\n (pickupable TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35)\n (pickupable SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67)\n (pickupable Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17)\n (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17)\n (pickupable ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64)\n (pickupable Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73)\n (pickupable ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56)\n (pickupable SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21)\n (pickupable Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41)\n (pickupable Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94)\n (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21)\n (pickupable SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10)\n (pickupable SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30)\n (pickupable Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11)\n (pickupable Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21)\n (pickupable SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31)\n (pickupable Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14)\n \n (openable Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52)\n (openable Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39)\n (openable Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52)\n (openable Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52)\n (openable Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98)\n \n (atLocation agent1 loc_bar__minus_12_bar_4_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67)\n (cleanable Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43)\n (cleanable Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41)\n (cleanable Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31 Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52)\n (inReceptacle Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14 Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19)\n (inReceptacle Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24 Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39)\n (inReceptacle Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21 Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52)\n (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21 Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52)\n (inReceptacle Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29)\n (inReceptacle TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29)\n (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29)\n (inReceptacle SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10 Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19)\n (inReceptacle Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00)\n (inReceptacle SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67 Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26)\n (inReceptacle ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64 Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26)\n (inReceptacle Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43 Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin)\n (inReceptacle SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin loc_bar__minus_10_bar_5_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_5_bar_6_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 loc_bar__minus_5_bar_8_bar_3_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_7_bar_6_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 loc_bar__minus_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 loc_bar__minus_8_bar_6_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_4_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 loc_bar__minus_6_bar_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin loc_bar__minus_10_bar_3_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 loc_bar__minus_10_bar_5_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30 loc_bar__minus_2_bar_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31 loc_bar__minus_7_bar_6_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24 loc_bar__minus_5_bar_8_bar_3_bar_30)\n (objectAtLocation Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43 loc_bar__minus_10_bar_5_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 loc_bar__minus_12_bar_5_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 loc_bar__minus_8_bar_3_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 loc_bar__minus_8_bar_3_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 loc_bar__minus_6_bar_3_bar_2_bar_30)\n (objectAtLocation SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_4_bar_9_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14 loc_bar__minus_8_bar_6_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10 loc_bar__minus_5_bar_9_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 loc_bar__minus_12_bar_5_bar_3_bar_30)\n (objectAtLocation SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21 loc_bar__minus_2_bar_4_bar_2_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 loc_bar__minus_4_bar_9_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SprayBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take spraybottle 4 from garbagecan 1", "go to toilet 1", "move spraybottle 4 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8d88641dad828116da396891e43770146cfd1ce6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/initial_state.pddl @@ -0,0 +1,553 @@ + +(define (problem plan_trial_T20190909_124852_071149) +(: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_45_bar__plus_00_dot_18_bar__plus_01_dot_03 - object + Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21 - object + Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14 - object + Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24 - object + Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41 - object + Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43 - object + Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_96_bar__plus_00_dot_18 - object + Faucet_bar__minus_03_dot_52_bar__plus_01_dot_72_bar__plus_01_dot_78 - object + HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 - object + Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 - object + ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 - object + ShowerCurtain_bar__minus_03_dot_39_bar__plus_02_dot_44_bar__plus_00_dot_27 - object + Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 - object + SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67 - object + SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31 - object + SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10 - object + SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21 - object + SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30 - object + SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17 - object + SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21 - object + TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 - object + ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64 - object + Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 - object + Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 - object + Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 - receptacle + Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 - receptacle + Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 - receptacle + CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 - receptacle + Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 - receptacle + HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 - receptacle + Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 - receptacle + Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 - receptacle + TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 - receptacle + loc_bar__minus_2_bar_4_bar_2_bar_60 - location + loc_bar__minus_12_bar_5_bar_3_bar_60 - location + loc_bar__minus_8_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_9_bar_1_bar_60 - location + loc_bar__minus_3_bar_5_bar_2_bar_30 - location + loc_bar__minus_5_bar_8_bar_3_bar_30 - location + loc_bar__minus_8_bar_6_bar_0_bar_60 - location + loc_bar__minus_10_bar_5_bar_3_bar_60 - location + loc_bar__minus_6_bar_3_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_3_bar_30 - location + loc_bar__minus_5_bar_9_bar_3_bar_60 - location + loc_bar__minus_4_bar_9_bar_0_bar_60 - location + loc_bar__minus_10_bar_3_bar_1_bar_60 - location + loc_bar__minus_5_bar_7_bar_3_bar_60 - location + loc_bar__minus_5_bar_9_bar_3_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_7_bar_6_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_5_bar_6_bar_2_bar_60 - location + loc_bar__minus_8_bar_3_bar_2_bar_60 - location + loc_bar__minus_10_bar_3_bar_2_bar_45 - location + loc_bar__minus_12_bar_4_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 DrawerType) + (receptacleType CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 CounterTopType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin BathtubBasinType) + (receptacleType Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 ShelfType) + (receptacleType Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 CabinetType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 ToiletType) + (objectType HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelType) + (objectType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 SinkType) + (objectType Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24 CandleType) + (objectType TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35 TissueBoxType) + (objectType SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67 SoapBarType) + (objectType Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 ToiletPaperType) + (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17 SprayBottleType) + (objectType Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 WindowType) + (objectType ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64 ToiletPaperType) + (objectType Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 PlungerType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 MirrorType) + (objectType ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 ScrubBrushType) + (objectType SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21 SprayBottleType) + (objectType Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41 ClothType) + (objectType Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 ClothType) + (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21 SprayBottleType) + (objectType SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10 SoapBottleType) + (objectType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 BathtubType) + (objectType SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30 SprayBottleType) + (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 LightSwitchType) + (objectType Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelType) + (objectType Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21 CandleType) + (objectType SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31 SoapBottleType) + (objectType Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14 CandleType) + (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 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 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 DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (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 GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (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 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 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 TowelHolderType TowelType) + (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 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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType 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 ToiletType TissueBoxType) + (pickupable HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04) + (pickupable Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24) + (pickupable TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35) + (pickupable SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67) + (pickupable Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17) + (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17) + (pickupable ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64) + (pickupable Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73) + (pickupable ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56) + (pickupable SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21) + (pickupable Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41) + (pickupable Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94) + (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21) + (pickupable SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10) + (pickupable SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30) + (pickupable Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11) + (pickupable Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21) + (pickupable SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31) + (pickupable Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14) + + (openable Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52) + (openable Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39) + (openable Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52) + (openable Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52) + (openable Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98) + + (atLocation agent1 loc_bar__minus_12_bar_4_bar_2_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67) + (cleanable Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43) + (cleanable Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41) + (cleanable Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94) + + + + + + + + + + + (inReceptacle SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31 Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52) + (inReceptacle Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14 Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19) + (inReceptacle Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24 Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39) + (inReceptacle Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21 Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52) + (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21 Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52) + (inReceptacle Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10 Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19) + (inReceptacle Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00) + (inReceptacle SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67 Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26) + (inReceptacle ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64 Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26) + (inReceptacle Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43 Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin) + (inReceptacle SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24) + (inReceptacle SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21 GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin loc_bar__minus_10_bar_5_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_5_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_2_bar_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 loc_bar__minus_5_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 loc_bar__minus_5_bar_8_bar_3_bar_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_7_bar_6_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 loc_bar__minus_8_bar_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 loc_bar__minus_8_bar_6_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_4_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 loc_bar__minus_6_bar_3_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin loc_bar__minus_10_bar_3_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar__minus_2_bar_7_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 loc_bar__minus_10_bar_5_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_25_bar__plus_00_dot_03_bar__plus_00_dot_30 loc_bar__minus_2_bar_4_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_02_bar__plus_00_dot_52_bar__plus_00_dot_31 loc_bar__minus_7_bar_6_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_90_bar__plus_01_dot_65_bar__plus_00_dot_21 loc_bar__minus_3_bar_5_bar_2_bar_30) + (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_14_bar__plus_00_dot_17 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_01_dot_66_bar__plus_00_dot_21 loc_bar__minus_3_bar_5_bar_2_bar_30) + (objectAtLocation Candle_bar__minus_02_dot_09_bar__plus_01_dot_58_bar__plus_02_dot_24 loc_bar__minus_5_bar_8_bar_3_bar_30) + (objectAtLocation Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_43 loc_bar__minus_10_bar_5_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 loc_bar__minus_12_bar_5_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 loc_bar__minus_8_bar_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 loc_bar__minus_8_bar_3_bar_2_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 loc_bar__minus_6_bar_3_bar_2_bar_30) + (objectAtLocation SoapBar_bar__minus_00_dot_57_bar__plus_00_dot_95_bar__plus_02_dot_67 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_32_bar__plus_00_dot_95_bar__plus_02_dot_64 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_4_bar_9_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_95_bar__plus_00_dot_85_bar__plus_02_dot_14 loc_bar__minus_8_bar_6_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_69_bar__plus_01_dot_13_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_07_bar__plus_01_dot_30_bar__plus_02_dot_10 loc_bar__minus_5_bar_9_bar_3_bar_45) + (objectAtLocation Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 loc_bar__minus_12_bar_5_bar_3_bar_30) + (objectAtLocation SprayBottle_bar__minus_00_dot_23_bar__plus_00_dot_03_bar__plus_00_dot_21 loc_bar__minus_2_bar_4_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_00_dot_87_bar__plus_01_dot_13_bar__plus_00_dot_41 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 loc_bar__minus_4_bar_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SprayBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c246211ef94b6cfb9790ab2d4ba4816c234dcd07 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124852_071149/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", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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0.2128559 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_88aa8e4d", + "position": { + "x": -0.6933836, + "y": 1.13481438, + "z": 0.347799778 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_08605e08", + "position": { + "x": -0.06760002, + "y": 1.015, + "z": 2.17159986 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 270.0 + } + }, + { + "objectName": "SoapBottle_278ed190", + "position": { + "x": -2.0164957, + "y": 0.5207397, + "z": 0.313405544 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_285434f4", + "position": { + "x": -0.254032135, + "y": 0.028576266, + "z": 0.300081044 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_62af54f6", + "position": { + "x": -2.76097, + "y": 1.56931639, + "z": 0.107438818 + }, + "rotation": { + "x": 0.0, + "y": 1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "Cloth_ddffbf40", + "position": { + "x": -3.574587, + "y": 0.219977736, + "z": 0.941 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_dcbdffc2", + "position": { + "x": -0.657668, + "y": -0.0001643449, + "z": 2.5607872 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 362061877, + "scene_num": 422 + }, + "task_id": "trial_T20190909_124852_071149", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A4UAFZ5LW71K_3HL8HNGX48S6XQHDNRXIGV5OHC89F7", + "high_descs": [ + "turn left, walk across room, turn right, walk to the counter", + "pick up the spray bottle that is on the counter", + "turn around, walk across room, turn right, walk to toilet", + "put spray bottle on back of toilet" + ], + "task_desc": "move spray bottle from counter to back of toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3KWTYT0873U9WVPX6CNZZS56SCFL51", + "high_descs": [ + "Turn left, walk forward across the room to the door, then turn right towards the box of tissues on top of the cabinets.", + "Pick up the spray bottle near the box of tissues.", + "Turn around and walk forward to the wall, then turn right towards the toilet.", + "Put the spray bottle on the top of the toilet, next to the bar of soap." + ], + "task_desc": "Place a spray bottle on the top of a toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3WJ1OXY92D7BNUHV7J5C2YZM0QI8A9", + "high_descs": [ + "Turn and walk across the room to find the cabinet next to the trash can.", + "Pick up the white spray bottle next to the box of tissues.", + "Turn right and hang another right to reach the toilet.", + "Set the white spray bottle down on the toilet tank lid." + ], + "task_desc": "Move a white spray bottle to the toilet tank lid.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e550f51694e157a97821f3551c215cfad26e50c5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/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 spraybottle 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_124904_818536)\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_45_bar__plus_00_dot_18_bar__plus_01_dot_03 - object\n Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11 - object\n Candle_bar__minus_03_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_17 - object\n Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_96_bar__plus_00_dot_18 - object\n Faucet_bar__minus_03_dot_52_bar__plus_01_dot_72_bar__plus_01_dot_78 - object\n HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 - object\n Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 - object\n ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 - object\n ShowerCurtain_bar__minus_03_dot_39_bar__plus_02_dot_44_bar__plus_00_dot_27 - object\n Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 - object\n SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34 - object\n SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14 - object\n SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17 - object\n SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70 - object\n SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11 - object\n SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29 - object\n SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47 - object\n TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26 - object\n TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 - object\n ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21 - object\n Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 - object\n Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 - object\n Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle\n Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 - receptacle\n Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 - receptacle\n Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle\n CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 - receptacle\n CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 - receptacle\n Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 - receptacle\n GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 - receptacle\n HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 - receptacle\n Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 - receptacle\n Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 - receptacle\n Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle\n Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 - receptacle\n TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_8_bar_6_bar_0_bar_45 - location\n loc_bar__minus_5_bar_9_bar_3_bar_15 - location\n loc_bar__minus_10_bar_3_bar_2_bar_0 - location\n loc_bar__minus_2_bar_4_bar_2_bar_60 - location\n loc_bar__minus_12_bar_5_bar_3_bar_60 - location\n loc_bar__minus_5_bar_6_bar_2_bar_45 - location\n loc_bar__minus_4_bar_9_bar_1_bar_60 - location\n loc_bar__minus_8_bar_3_bar_2_bar_0 - location\n loc_bar__minus_5_bar_8_bar_3_bar__minus_15 - location\n loc_bar__minus_10_bar_5_bar_3_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_45 - location\n loc_bar__minus_12_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_9_bar_0_bar_60 - location\n loc_bar__minus_10_bar_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_1_bar_45 - location\n loc_bar__minus_5_bar_7_bar_3_bar_60 - location\n loc_bar__minus_5_bar_9_bar_1_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_5_bar_9_bar_3_bar_30 - location\n loc_bar__minus_4_bar_4_bar_2_bar_60 - location\n loc_bar__minus_6_bar_3_bar_2_bar__minus_15 - location\n loc_bar__minus_8_bar_3_bar_2_bar_60 - location\n loc_bar__minus_2_bar_7_bar_1_bar_30 - location\n loc_bar__minus_2_bar_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 ShelfType)\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 DrawerType)\n (receptacleType CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 CounterTopType)\n (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin BathtubBasinType)\n (receptacleType Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 ShelfType)\n (receptacleType Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 CabinetType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 ToiletType)\n (objectType TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26 TissueBoxType)\n (objectType HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelType)\n (objectType SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11 SprayBottleType)\n (objectType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 SinkType)\n (objectType Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11 CandleType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 ToiletPaperType)\n (objectType SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34 SoapBarType)\n (objectType Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 WindowType)\n (objectType SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47 SprayBottleType)\n (objectType Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 PlungerType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 MirrorType)\n (objectType ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 ScrubBrushType)\n (objectType Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32 ClothType)\n (objectType Candle_bar__minus_03_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_17 CandleType)\n (objectType SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14 SoapBarType)\n (objectType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 BathtubType)\n (objectType TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24 TissueBoxType)\n (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 LightSwitchType)\n (objectType Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70 SoapBottleType)\n (objectType ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21 ToiletPaperType)\n (objectType SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17 SoapBarType)\n (objectType SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29 SprayBottleType)\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 TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\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 TissueBoxType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\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 TissueBoxType)\n (canContain DrawerType 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 TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (canContain GarbageCanType SoapBarType)\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 HandTowelHolderType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\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 TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\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 TissueBoxType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\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 TissueBoxType)\n (canContain DrawerType 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 TissueBoxType)\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 TissueBoxType)\n (canContain CounterTopType 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 ToiletType TissueBoxType)\n (pickupable TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26)\n (pickupable HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04)\n (pickupable SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11)\n (pickupable Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17)\n (pickupable SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34)\n (pickupable SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47)\n (pickupable Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73)\n (pickupable ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56)\n (pickupable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32)\n (pickupable Candle_bar__minus_03_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_17)\n (pickupable SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14)\n (pickupable TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24)\n (pickupable Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11)\n (pickupable SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70)\n (pickupable ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21)\n (pickupable SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17)\n (pickupable SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29)\n \n (openable Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52)\n (openable Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39)\n (openable Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52)\n (openable Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52)\n (openable Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98)\n \n (atLocation agent1 loc_bar__minus_2_bar_6_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34)\n (cleanable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32)\n (cleanable SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14)\n (cleanable SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38)\n (inReceptacle SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17 CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29)\n (inReceptacle Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11 CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29)\n (inReceptacle TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24 Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39)\n (inReceptacle TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26 Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52)\n (inReceptacle SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29)\n (inReceptacle SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29)\n (inReceptacle SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29)\n (inReceptacle ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29)\n (inReceptacle SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14 Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19)\n (inReceptacle Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00)\n (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70 Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26)\n (inReceptacle Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32 Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin loc_bar__minus_10_bar_5_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 loc_bar__minus_5_bar_8_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_7_bar_6_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 loc_bar__minus_8_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 loc_bar__minus_8_bar_6_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_4_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 loc_bar__minus_6_bar_3_bar_2_bar__minus_15)\n (receptacleAtLocation Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_30)\n (receptacleAtLocation Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_15)\n (receptacleAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin loc_bar__minus_10_bar_3_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar__minus_2_bar_7_bar_1_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24 loc_bar__minus_5_bar_8_bar_3_bar__minus_15)\n (objectAtLocation Candle_bar__minus_03_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_17 loc_bar__minus_10_bar_5_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17 loc_bar__minus_8_bar_3_bar_2_bar_60)\n (objectAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 loc_bar__minus_12_bar_5_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 loc_bar__minus_8_bar_3_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 loc_bar__minus_8_bar_3_bar_2_bar_0)\n (objectAtLocation HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 loc_bar__minus_6_bar_3_bar_2_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_3_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 loc_bar__minus_2_bar_7_bar_1_bar_30)\n (objectAtLocation Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_4_bar_9_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11 loc_bar__minus_8_bar_3_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26 loc_bar__minus_3_bar_5_bar_2_bar__minus_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70 loc_bar__minus_5_bar_9_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 loc_bar__minus_12_bar_5_bar_3_bar_0)\n (objectAtLocation SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11 loc_bar__minus_4_bar_4_bar_2_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32 loc_bar__minus_10_bar_3_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 loc_bar__minus_4_bar_9_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SprayBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take spraybottle 3 from countertop 2", "go to toilet 1", "move spraybottle 3 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b1d49626e317284babdf850df2776ec6faf944fc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/initial_state.pddl @@ -0,0 +1,545 @@ + +(define (problem plan_trial_T20190909_124904_818536) +(: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_45_bar__plus_00_dot_18_bar__plus_01_dot_03 - object + Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11 - object + Candle_bar__minus_03_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_17 - object + Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_96_bar__plus_00_dot_18 - object + Faucet_bar__minus_03_dot_52_bar__plus_01_dot_72_bar__plus_01_dot_78 - object + HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 - object + Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 - object + ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 - object + ShowerCurtain_bar__minus_03_dot_39_bar__plus_02_dot_44_bar__plus_00_dot_27 - object + Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 - object + SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34 - object + SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14 - object + SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17 - object + SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70 - object + SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11 - object + SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29 - object + SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47 - object + TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26 - object + TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 - object + ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21 - object + Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 - object + Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 - object + Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 - receptacle + Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 - receptacle + Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 - receptacle + CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 - receptacle + Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 - receptacle + GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 - receptacle + HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 - receptacle + Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 - receptacle + Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 - receptacle + Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 - receptacle + TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 - receptacle + loc_bar__minus_8_bar_6_bar_0_bar_45 - location + loc_bar__minus_5_bar_9_bar_3_bar_15 - location + loc_bar__minus_10_bar_3_bar_2_bar_0 - location + loc_bar__minus_2_bar_4_bar_2_bar_60 - location + loc_bar__minus_12_bar_5_bar_3_bar_60 - location + loc_bar__minus_5_bar_6_bar_2_bar_45 - location + loc_bar__minus_4_bar_9_bar_1_bar_60 - location + loc_bar__minus_8_bar_3_bar_2_bar_0 - location + loc_bar__minus_5_bar_8_bar_3_bar__minus_15 - location + loc_bar__minus_10_bar_5_bar_3_bar_60 - location + loc_bar__minus_7_bar_6_bar_2_bar_45 - location + loc_bar__minus_12_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_9_bar_0_bar_60 - location + loc_bar__minus_10_bar_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_1_bar_45 - location + loc_bar__minus_5_bar_7_bar_3_bar_60 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_5_bar_9_bar_3_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_6_bar_3_bar_2_bar__minus_15 - location + loc_bar__minus_8_bar_3_bar_2_bar_60 - location + loc_bar__minus_2_bar_7_bar_1_bar_30 - location + loc_bar__minus_2_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 DrawerType) + (receptacleType CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 CounterTopType) + (receptacleType GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin BathtubBasinType) + (receptacleType Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 ShelfType) + (receptacleType Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 CabinetType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 ToiletType) + (objectType TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26 TissueBoxType) + (objectType HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelType) + (objectType SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11 SprayBottleType) + (objectType Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 SinkType) + (objectType Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11 CandleType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 ToiletPaperType) + (objectType SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34 SoapBarType) + (objectType Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 WindowType) + (objectType SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47 SprayBottleType) + (objectType Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 PlungerType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 MirrorType) + (objectType ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 ScrubBrushType) + (objectType Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32 ClothType) + (objectType Candle_bar__minus_03_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_17 CandleType) + (objectType SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14 SoapBarType) + (objectType Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 BathtubType) + (objectType TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24 TissueBoxType) + (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 LightSwitchType) + (objectType Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelType) + (objectType SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21 ToiletPaperType) + (objectType SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17 SoapBarType) + (objectType SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29 SprayBottleType) + (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 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 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 DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (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 GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (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 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 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 TowelHolderType TowelType) + (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 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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType 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 ToiletType TissueBoxType) + (pickupable TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26) + (pickupable HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04) + (pickupable SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11) + (pickupable Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17) + (pickupable SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34) + (pickupable SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47) + (pickupable Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73) + (pickupable ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56) + (pickupable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32) + (pickupable Candle_bar__minus_03_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_17) + (pickupable SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14) + (pickupable TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24) + (pickupable Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11) + (pickupable SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70) + (pickupable ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21) + (pickupable SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17) + (pickupable SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29) + + (openable Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52) + (openable Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39) + (openable Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52) + (openable Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52) + (openable Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98) + + (atLocation agent1 loc_bar__minus_2_bar_6_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34) + (cleanable Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32) + (cleanable SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14) + (cleanable SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38) + (inReceptacle SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17 CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29) + (inReceptacle Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11 CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29) + (inReceptacle TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24 Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39) + (inReceptacle TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26 Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52) + (inReceptacle SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21 CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29) + (inReceptacle SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14 Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19) + (inReceptacle Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70 Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26) + (inReceptacle Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32 Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03_bar_BathtubBasin loc_bar__minus_10_bar_5_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_01_dot_99_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_00_dot_44_bar__plus_01_dot_98 loc_bar__minus_5_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_89_bar__plus_01_dot_88_bar__plus_02_dot_39 loc_bar__minus_5_bar_8_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_34_bar__plus_00_dot_46_bar__plus_00_dot_52 loc_bar__minus_7_bar_6_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_00_dot_09_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_29 loc_bar__minus_8_bar_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_96_bar__plus_00_dot_38 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_19 loc_bar__minus_8_bar_6_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_4_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_30_bar__plus_01_dot_87_bar__plus_00_dot_00 loc_bar__minus_6_bar_3_bar_2_bar__minus_15) + (receptacleAtLocation Shelf_bar__minus_02_dot_03_bar__plus_01_dot_18_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_02_dot_12_bar__plus_01_dot_39_bar__plus_02_dot_19 loc_bar__minus_5_bar_9_bar_3_bar_15) + (receptacleAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33_bar_SinkBasin loc_bar__minus_10_bar_3_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar__minus_2_bar_7_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_46_bar_00_dot_00_bar__plus_02_dot_26 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_76_bar__plus_01_dot_56_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation SprayBottle_bar__minus_00_dot_87_bar__plus_01_dot_14_bar__plus_00_dot_47 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_18_bar__plus_01_dot_58_bar__plus_02_dot_24 loc_bar__minus_5_bar_8_bar_3_bar__minus_15) + (objectAtLocation Candle_bar__minus_03_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_17 loc_bar__minus_10_bar_5_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_77_bar__plus_00_dot_86_bar__plus_00_dot_34 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_17 loc_bar__minus_8_bar_3_bar_2_bar_60) + (objectAtLocation Bathtub_bar__minus_03_dot_45_bar__plus_00_dot_18_bar__plus_01_dot_03 loc_bar__minus_12_bar_5_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_93_bar__plus_00_dot_77_bar__plus_00_dot_33 loc_bar__minus_8_bar_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_67_bar__plus_00_dot_11 loc_bar__minus_8_bar_3_bar_2_bar_0) + (objectAtLocation HandTowel_bar__minus_01_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_04 loc_bar__minus_6_bar_3_bar_2_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_01_dot_99_bar__plus_01_dot_10_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_3_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_92_bar__plus_01_dot_12_bar__plus_00_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_43_bar__plus_01_dot_99 loc_bar__minus_2_bar_7_bar_1_bar_30) + (objectAtLocation Plunger_bar__minus_00_dot_74_bar_00_dot_00_bar__plus_02_dot_73 loc_bar__minus_4_bar_9_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_31_bar__plus_00_dot_81_bar__plus_00_dot_11 loc_bar__minus_8_bar_3_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_26 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_02_bar__plus_02_dot_17 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_96_bar__plus_02_dot_70 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Window_bar__minus_04_dot_15_bar__plus_01_dot_72_bar__plus_01_dot_15 loc_bar__minus_12_bar_5_bar_3_bar_0) + (objectAtLocation SprayBottle_bar__minus_00_dot_75_bar__plus_01_dot_14_bar__plus_00_dot_11 loc_bar__minus_4_bar_4_bar_2_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_76_bar__plus_01_dot_57_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation Cloth_bar__minus_01_dot_78_bar__plus_00_dot_85_bar__plus_00_dot_32 loc_bar__minus_10_bar_3_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_66_bar_00_dot_00_bar__plus_02_dot_56 loc_bar__minus_4_bar_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SprayBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..bf23f05c91ef65ee431d6b382e9c4ec09b556d1d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SprayBottle-None-Toilet-422/trial_T20190909_124904_818536/traj_data.json @@ -0,0 +1,2365 @@ +{ + "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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0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_627d584e", + "position": { + "x": -0.921371, + "y": 1.1245687, + "z": 0.2105791 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_95f11d6a", + "position": { + "x": -0.7359993, + "y": -0.000627331436, + "z": 2.732999 + }, + "rotation": { + "x": -0.00118203438, + "y": 0.000425778737, + "z": 0.000781116367 + } + }, + { + "objectName": "Candle_09b3c1b2", + "position": { + "x": -3.12356687, + "y": 0.6890075, + "z": 0.170152783 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_88aa8e4d", + "position": { + "x": -2.18025875, + "y": 1.58370447, + "z": 2.24069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_08605e08", + "position": { + "x": -0.06760002, + "y": 1.015, + "z": 2.17159986 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 270.0 + } + }, + { + "objectName": "SoapBottle_278ed190", + "position": { + "x": -0.5689962, + "y": 0.956485152, + "z": 2.69627523 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_285434f4", + "position": { + "x": -0.8723052, + "y": 1.135519, + "z": 0.466661543 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_62af54f6", + "position": { + "x": -2.76097, + "y": 1.56931639, + "z": 0.107438818 + }, + "rotation": { + "x": 0.0, + "y": 1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "Cloth_ddffbf40", + "position": { + "x": -1.779069, + "y": 0.8504602, + "z": 0.3205 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_dcbdffc2", + "position": { + "x": -0.657668, + "y": -0.0001643449, + "z": 2.5607872 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1716739830, + "scene_num": 422 + }, + "task_id": "trial_T20190909_124904_818536", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A31681CCEVDIH3_3GLB5JMZF0MOEGQPAR82KCOQ9CSDGW", + "high_descs": [ + "Turn left to face the cabinet next to the blue trash can.", + "Pick up the middle white spray bottle from the cabinet.", + "Turn around to walk across the room to the toilet.", + "Set the white spray bottle down on the toilet tank lid." + ], + "task_desc": "Move a white spray bottle to the toilet tank lid.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3KXIR214I77LZQZPI1MKF40JMG042X", + "high_descs": [ + "Turn left and walk to the white dresser with the wooden top.", + "Pick up the white spray bottle to the left of the full roll of toilet paper on the dresser.", + "Turn around and walk to the side of the white toilet to the right.", + "Place the spray bottle on the right side of the toilet tank." + ], + "task_desc": "Place a spray bottle on a toilet tank.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_3ZPBJO59KSS2ECL0UXQK5C0ROC3HDX", + "high_descs": [ + "Turn left and walk to the stand with spray bottles on it.", + "Pick up the left front spray bottle from the stand.", + "Turn around and walk to the wall then turn right and walk to the side of the toilet.", + "Put the spray bottle on top of the toilet next to the soap dispenser." + ], + "task_desc": "Put a spray bottle 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_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a13d66e728d8c1619cfd5c8564381edcd9694e17 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/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 tissuebox 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_114048_231845)\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_05_dot_70_bar__plus_00_dot_72_bar__plus_02_dot_55 - object\n Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object\n Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object\n CellPhone_bar__minus_03_dot_13_bar__plus_00_dot_41_bar__plus_00_dot_54 - object\n CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_85 - object\n Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object\n Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object\n Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object\n CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_61 - object\n CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_53 - object\n CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_05 - object\n FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object\n HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object\n KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_41_bar__plus_02_dot_80 - object\n Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object\n LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object\n Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object\n Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object\n Pencil_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__plus_00_dot_17 - object\n Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_34 - object\n Pen_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_59 - object\n Pen_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_40 - object\n Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object\n RemoteControl_bar__minus_01_dot_29_bar__plus_00_dot_40_bar__plus_03_dot_57 - object\n RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 - object\n RemoteControl_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_85 - object\n Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38 - object\n Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 - object\n Statue_bar__minus_05_dot_84_bar__plus_00_dot_74_bar__plus_02_dot_25 - object\n Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object\n TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_53 - object\n WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object\n Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object\n ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle\n CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle\n Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle\n GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle\n SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle\n SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle\n SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle\n Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle\n loc_bar__minus_11_bar_17_bar_0_bar_15 - location\n loc_bar__minus_20_bar_13_bar_2_bar_60 - location\n loc_bar__minus_16_bar_10_bar_1_bar_60 - location\n loc_bar__minus_22_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_60 - location\n loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar__minus_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_2_bar_0 - location\n loc_bar__minus_21_bar_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar_13_bar_1_bar_60 - location\n loc_bar__minus_21_bar_14_bar_2_bar_60 - location\n loc_bar__minus_14_bar_6_bar_2_bar_60 - location\n loc_bar__minus_1_bar_15_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_19_bar_2_bar_3_bar_60 - location\n loc_bar__minus_20_bar_10_bar_3_bar_60 - location\n loc_bar__minus_21_bar_12_bar_2_bar_60 - location\n loc_bar__minus_20_bar_15_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_15 - location\n loc_bar__minus_12_bar_14_bar_2_bar_60 - location\n loc_bar__minus_11_bar_16_bar_1_bar_60 - location\n loc_bar__minus_2_bar_14_bar_1_bar_0 - location\n loc_bar__minus_6_bar_11_bar_0_bar_60 - location\n loc_bar__minus_3_bar_6_bar_1_bar_0 - location\n loc_bar__minus_13_bar_5_bar_2_bar_0 - location\n loc_bar__minus_20_bar_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType)\n (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType)\n (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType)\n (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType)\n (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType)\n (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType)\n (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType)\n (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType)\n (objectType Pencil_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__plus_00_dot_17 PencilType)\n (objectType RemoteControl_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_85 RemoteControlType)\n (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType)\n (objectType CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_05 CreditCardType)\n (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType)\n (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType)\n (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType)\n (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType)\n (objectType KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_41_bar__plus_02_dot_80 KeyChainType)\n (objectType CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_53 CreditCardType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType)\n (objectType Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 StatueType)\n (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType)\n (objectType CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_61 CreditCardType)\n (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType)\n (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType)\n (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType)\n (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType)\n (objectType Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_34 PencilType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType)\n (objectType Book_bar__minus_05_dot_70_bar__plus_00_dot_72_bar__plus_02_dot_55 BookType)\n (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType)\n (objectType RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 RemoteControlType)\n (objectType RemoteControl_bar__minus_01_dot_29_bar__plus_00_dot_40_bar__plus_03_dot_57 RemoteControlType)\n (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType)\n (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType)\n (objectType TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_53 TissueBoxType)\n (objectType CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_85 CellPhoneType)\n (objectType Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38 StatueType)\n (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType)\n (objectType CellPhone_bar__minus_03_dot_13_bar__plus_00_dot_41_bar__plus_00_dot_54 CellPhoneType)\n (objectType Pen_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_40 PenType)\n (objectType Pen_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_59 PenType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType)\n (objectType Statue_bar__minus_05_dot_84_bar__plus_00_dot_74_bar__plus_02_dot_25 StatueType)\n (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (pickupable Pencil_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__plus_00_dot_17)\n (pickupable RemoteControl_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_85)\n (pickupable CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_05)\n (pickupable Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (pickupable KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_41_bar__plus_02_dot_80)\n (pickupable CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_53)\n (pickupable Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05)\n (pickupable CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_61)\n (pickupable Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59)\n (pickupable Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72)\n (pickupable Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_34)\n (pickupable Book_bar__minus_05_dot_70_bar__plus_00_dot_72_bar__plus_02_dot_55)\n (pickupable RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44)\n (pickupable RemoteControl_bar__minus_01_dot_29_bar__plus_00_dot_40_bar__plus_03_dot_57)\n (pickupable Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09)\n (pickupable WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14)\n (pickupable TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_53)\n (pickupable CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_85)\n (pickupable Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38)\n (pickupable CellPhone_bar__minus_03_dot_13_bar__plus_00_dot_41_bar__plus_00_dot_54)\n (pickupable Pen_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_40)\n (pickupable Pen_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_59)\n (pickupable Statue_bar__minus_05_dot_84_bar__plus_00_dot_74_bar__plus_02_dot_25)\n (isReceptacleObject Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_20_bar_2_bar_3_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49)\n \n \n \n \n (inReceptacle CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_85 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle RemoteControl_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_85 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Pen_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_40 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Book_bar__minus_05_dot_70_bar__plus_00_dot_72_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Statue_bar__minus_05_dot_84_bar__plus_00_dot_74_bar__plus_02_dot_25 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle RemoteControl_bar__minus_01_dot_29_bar__plus_00_dot_40_bar__plus_03_dot_57 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65)\n (inReceptacle CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_61 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65)\n (inReceptacle Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle Pen_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_59 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_34 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_05 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29)\n (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41)\n (inReceptacle CellPhone_bar__minus_03_dot_13_bar__plus_00_dot_41_bar__plus_00_dot_54 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41)\n (inReceptacle KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_41_bar__plus_02_dot_80 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68)\n (inReceptacleObject Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_34 Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n (inReceptacle Pencil_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__plus_00_dot_17 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60)\n (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_34 loc_bar__minus_16_bar_10_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_59 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_85 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_01_dot_29_bar__plus_00_dot_40_bar__plus_03_dot_57 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_05 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_85 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_05_dot_70_bar__plus_00_dot_72_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_41_bar__plus_02_dot_80 loc_bar__minus_21_bar_14_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60)\n (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_61 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15)\n (objectAtLocation CellPhone_bar__minus_03_dot_13_bar__plus_00_dot_41_bar__plus_00_dot_54 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0)\n (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0)\n (objectAtLocation Pencil_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__plus_00_dot_17 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_05_dot_84_bar__plus_00_dot_74_bar__plus_02_dot_25 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38 loc_bar__minus_4_bar_7_bar_1_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 SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take tissuebox 1 from coffeetable 1", "go to sidetable 1", "move tissuebox 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..86531555948c51c1d063da1820a0d293cae7b4c5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/initial_state.pddl @@ -0,0 +1,580 @@ + +(define (problem plan_trial_T20190908_114048_231845) +(: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_05_dot_70_bar__plus_00_dot_72_bar__plus_02_dot_55 - object + Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object + Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object + CellPhone_bar__minus_03_dot_13_bar__plus_00_dot_41_bar__plus_00_dot_54 - object + CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_85 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object + Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object + Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object + CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_61 - object + CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_53 - object + CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_05 - object + FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object + HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object + KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_41_bar__plus_02_dot_80 - object + Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object + Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object + Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object + Pencil_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__plus_00_dot_17 - object + Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_34 - object + Pen_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_59 - object + Pen_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_40 - object + Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object + RemoteControl_bar__minus_01_dot_29_bar__plus_00_dot_40_bar__plus_03_dot_57 - object + RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 - object + RemoteControl_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_85 - object + Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38 - object + Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 - object + Statue_bar__minus_05_dot_84_bar__plus_00_dot_74_bar__plus_02_dot_25 - object + Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object + TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_53 - object + WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object + Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object + ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle + CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle + Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle + GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle + SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle + SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle + SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle + Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle + loc_bar__minus_11_bar_17_bar_0_bar_15 - location + loc_bar__minus_20_bar_13_bar_2_bar_60 - location + loc_bar__minus_16_bar_10_bar_1_bar_60 - location + loc_bar__minus_22_bar_17_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_60 - location + loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_21_bar_5_bar_2_bar_60 - location + loc_bar__minus_1_bar_13_bar_1_bar_60 - location + loc_bar__minus_21_bar_14_bar_2_bar_60 - location + loc_bar__minus_14_bar_6_bar_2_bar_60 - location + loc_bar__minus_1_bar_15_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_19_bar_2_bar_3_bar_60 - location + loc_bar__minus_20_bar_10_bar_3_bar_60 - location + loc_bar__minus_21_bar_12_bar_2_bar_60 - location + loc_bar__minus_20_bar_15_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_15 - location + loc_bar__minus_12_bar_14_bar_2_bar_60 - location + loc_bar__minus_11_bar_16_bar_1_bar_60 - location + loc_bar__minus_2_bar_14_bar_1_bar_0 - location + loc_bar__minus_6_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_6_bar_1_bar_0 - location + loc_bar__minus_13_bar_5_bar_2_bar_0 - location + loc_bar__minus_20_bar_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType) + (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType) + (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType) + (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType) + (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType) + (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType) + (objectType Pencil_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__plus_00_dot_17 PencilType) + (objectType RemoteControl_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_85 RemoteControlType) + (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType) + (objectType CreditCard_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_05 CreditCardType) + (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType) + (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType) + (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType) + (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType) + (objectType KeyChain_bar__minus_05_dot_72_bar__plus_00_dot_41_bar__plus_02_dot_80 KeyChainType) + (objectType CreditCard_bar__minus_02_dot_90_bar__plus_00_dot_41_bar__plus_02_dot_53 CreditCardType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType) + (objectType Statue_bar__minus_02_dot_90_bar__plus_00_dot_42_bar__plus_02_dot_05 StatueType) + (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType) + (objectType CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_61 CreditCardType) + (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType) + (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType) + (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType) + (objectType Pencil_bar__minus_03_dot_19_bar__plus_00_dot_42_bar__plus_02_dot_34 PencilType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType) + (objectType Book_bar__minus_05_dot_70_bar__plus_00_dot_72_bar__plus_02_dot_55 BookType) + (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType) + (objectType RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_42_bar__plus_02_dot_44 RemoteControlType) + (objectType RemoteControl_bar__minus_01_dot_29_bar__plus_00_dot_40_bar__plus_03_dot_57 RemoteControlType) + (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType) + (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType) + (objectType TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_53 TissueBoxType) + (objectType CellPhone_bar__minus_05_dot_93_bar__plus_00_dot_73_bar__plus_02_dot_85 CellPhoneType) + (objectType Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38 StatueType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType) + (objectType CellPhone_bar__minus_03_dot_13_bar__plus_00_dot_41_bar__plus_00_dot_54 CellPhoneType) + (objectType Pen_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_40 PenType) + (objectType Pen_bar__minus_00_dot_27_bar__plus_00_dot_78_bar__plus_01_dot_59 PenType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType) + (objectType Statue_bar__minus_05_dot_84_bar__plus_00_dot_74_bar__plus_02_dot_25 StatueType) + (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType 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Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Book_bar__minus_05_dot_70_bar__plus_00_dot_72_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Statue_bar__minus_05_dot_84_bar__plus_00_dot_74_bar__plus_02_dot_25 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle RemoteControl_bar__minus_01_dot_29_bar__plus_00_dot_40_bar__plus_03_dot_57 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65) + (inReceptacle CreditCard_bar__minus_01_dot_48_bar__plus_00_dot_40_bar__plus_03_dot_61 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65) + (inReceptacle Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38 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loc_bar__minus_1_bar_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15) + (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15) + (objectAtLocation CellPhone_bar__minus_03_dot_13_bar__plus_00_dot_41_bar__plus_00_dot_54 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_05_dot_84_bar__plus_00_dot_73_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation 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(objectAtLocation Statue_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_38 loc_bar__minus_4_bar_7_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o TissueBoxType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3b591705d6c6fd97003fb7048d3c222e5a30d36a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114048_231845/traj_data.json @@ -0,0 +1,3240 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + 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} + }, + "high_idx": 3 + } + ] + }, + "scene": { + "dirty_and_empty": false, + "floor_plan": "FloorPlan229", + "init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 270, + "x": -5.0, + "y": 0.922051549, + "z": 0.5 + }, + "object_poses": [ + { + "objectName": "Statue_b87ac3be", + "position": { + "x": -5.83508348, + "y": 0.7365925, + "z": 2.25050926 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_24adbade", + "position": { + "x": -0.359729528, + "y": 0.7726754, + "z": 0.172807932 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_f9493ff1", + "position": { + "x": -5.83508348, + "y": 0.728652835, + "z": 2.401 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_c0754d90", + "position": { + "x": -3.126, + "y": 0.4090042, + "z": 0.535032332 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f698a6b5", + "position": { + "x": -1.47804523, + "y": 0.396496, + "z": 3.60800934 + }, + "rotation": { + "x": 0.0, + "y": 209.03656, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f698a6b5", + "position": { + "x": -2.89564753, + "y": 0.412995964, + "z": 2.530569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_1dea4742", + "position": { + "x": -2.749318, + "y": 0.417904854, + "z": 2.435374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_1dea4742", + "position": { + "x": -5.74257374, + "y": 0.724234164, + "z": 2.85247254 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_6ede4fbf", + "position": { + "x": -5.696319, + "y": 0.721913636, + "z": 2.55149078 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_3a2ac9e3", + "position": { + "x": -3.426, + "y": 0.635, + "z": 2.439 + }, + "rotation": { + "x": 0.0, + "y": 330.427948, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_5ef9825c", + "position": { + "x": -5.720118, + "y": 0.407988548, + "z": 2.80209064 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_0e7ad8bb", + "position": { + "x": -2.147, + "y": 0.615, + "z": 0.59 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 42.94562 + } + }, + { + "objectName": "WateringCan_f71b5fc6", + "position": { + "x": -5.238764, + "y": 0.0201935917, + "z": 0.136437342 + }, + "rotation": { + "x": -0.002103566, + "y": 0.000306327129, + "z": 0.000320422638 + } + }, + { + "objectName": "TissueBox_a3f43f31", + "position": { + "x": -3.041977, + "y": 0.414699525, + "z": 2.530569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_f698a6b5", + "position": { + "x": -3.48096561, + "y": 0.4166667, + "z": 2.05459356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_1dea4742", + "position": { + "x": -1.29099667, + "y": 0.3987157, + "z": 3.573705 + }, + "rotation": { + "x": 0.0, + "y": 209.03656, + "z": 0.0 + } + }, + { + "objectName": "Boots_2407c22b", + "position": { + "x": 0.0340102427, + "y": 0.0217030942, + "z": 3.09199619 + }, + "rotation": { + "x": 359.987549, + "y": 259.598633, + "z": 359.9935 + } + }, + { + "objectName": "CellPhone_c0754d90", + "position": { + "x": -5.92759275, + "y": 0.726517856, + "z": 2.85247254 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_f9493ff1", + "position": { + "x": -0.271113157, + "y": 0.7756528, + "z": 1.59242177 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_10eaeb6a", + "position": { + "x": -0.334, + "y": 0.765, + "z": 0.722 + }, + "rotation": { + "x": 0.0, + "y": 296.906128, + "z": 0.0 + } + }, + { + "objectName": "Pencil_24adbade", + "position": { + "x": -3.18830633, + "y": 0.416675359, + "z": 2.340179 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_b87ac3be", + "position": { + "x": -2.89564753, + "y": 0.423063964, + "z": 2.05459356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_2bdb1f8f", + "position": { + "x": -0.3372263, + "y": 0.7766794, + "z": 1.37815642 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 789296360, + "scene_num": 229 + }, + "task_id": "trial_T20190908_114048_231845", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3SFPSMFRSRTB3_37Z929RLGCZYLAVDRH2YEUPF0TOTSX", + "high_descs": [ + "Turn right, proceed until reach chair on your right. Turn right, proceed until coffee table in on your right. Turn right to face table.", + "Pick up tissue box off of coffee table, to the right of the credit card.", + "Turn left, go to end of table, turn right, go to end of table. Turn left, go to end table across room with pen on it.", + "Place tissues diagonal on table to the left of the pen." + ], + "task_desc": "Move to table, pick up tissue box and place on table with pen on it.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3R0T90IZ1V3E9OKBAVDR0668OW1GCO", + "high_descs": [ + "Turn right and walk forward then turn right again and walk over to the coffee table, facing toward the sofa", + "Pick up the tissue box from the coffee table", + "Turn left and walk around the coffee table over to the small table left of the computer desk", + "Put the tissue box on the left side of the small table" + ], + "task_desc": "Put the tissue box on the small table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3TS1AR6UQT52J7TK8UZY2ZEIM627FF", + "high_descs": [ + "Go right and then turn right and go forward and turn right towards the table with the box on it.", + "Pick the box of tissues up from the table.", + "Go around the table and left to face the table with a pen and a statue on it.", + "Put the tissues down to the left of the pen." + ], + "task_desc": "Put tissues down on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9c715f680d117b0d6ac891152641f2613cfae553 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/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 tissuebox 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_114112_465371)\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_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 - object\n Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15 - object\n Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object\n Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object\n CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60 - object\n CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25 - object\n Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object\n Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object\n Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object\n CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53 - object\n CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25 - object\n FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object\n HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object\n KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15 - object\n Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object\n LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object\n Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object\n Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object\n Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 - object\n Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31 - object\n Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 - object\n Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 - object\n Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object\n RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15 - object\n Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 - object\n Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 - object\n Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object\n TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63 - object\n WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object\n Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object\n ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle\n CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle\n Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle\n GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle\n SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle\n SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle\n SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle\n Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle\n loc_bar__minus_11_bar_17_bar_0_bar_15 - location\n loc_bar__minus_20_bar_13_bar_2_bar_60 - location\n loc_bar__minus_22_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_60 - location\n loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar__minus_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_2_bar_0 - location\n loc_bar__minus_21_bar_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar_13_bar_1_bar_60 - location\n loc_bar__minus_21_bar_14_bar_2_bar_60 - location\n loc_bar__minus_14_bar_6_bar_2_bar_60 - location\n loc_bar__minus_1_bar_15_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_19_bar_2_bar_3_bar_60 - location\n loc_bar__minus_20_bar_10_bar_3_bar_60 - location\n loc_bar__minus_21_bar_12_bar_2_bar_60 - location\n loc_bar__minus_20_bar_15_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_15 - location\n loc_bar__minus_12_bar_14_bar_2_bar_60 - location\n loc_bar__minus_11_bar_16_bar_1_bar_60 - location\n loc_bar__minus_2_bar_14_bar_1_bar_0 - location\n loc_bar__minus_6_bar_11_bar_0_bar_60 - location\n loc_bar__minus_3_bar_6_bar_1_bar_0 - location\n loc_bar__minus_12_bar_7_bar_0_bar_60 - location\n loc_bar__minus_13_bar_5_bar_2_bar_0 - location\n loc_bar__minus_12_bar_12_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType)\n (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType)\n (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType)\n (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType)\n (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType)\n (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType)\n (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType)\n (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType)\n (objectType TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63 TissueBoxType)\n (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType)\n (objectType KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15 KeyChainType)\n (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType)\n (objectType CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25 CellPhoneType)\n (objectType Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 StatueType)\n (objectType Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 PencilType)\n (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType)\n (objectType CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53 CreditCardType)\n (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType)\n (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType)\n (objectType Book_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 BookType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType)\n (objectType Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 PenType)\n (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType)\n (objectType Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 StatueType)\n (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType)\n (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType)\n (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType)\n (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType)\n (objectType Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15 BookType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType)\n (objectType Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 PenType)\n (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType)\n (objectType CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25 CreditCardType)\n (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType)\n (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType)\n (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType)\n (objectType CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60 CellPhoneType)\n (objectType RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15 RemoteControlType)\n (objectType Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31 PenType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType)\n (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (pickupable TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63)\n (pickupable KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15)\n (pickupable CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25)\n (pickupable Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55)\n (pickupable Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15)\n (pickupable CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53)\n (pickupable Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (pickupable Book_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38)\n (pickupable Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40)\n (pickupable Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36)\n (pickupable Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59)\n (pickupable Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72)\n (pickupable Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15)\n (pickupable Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55)\n (pickupable CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25)\n (pickupable Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09)\n (pickupable WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14)\n (pickupable CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60)\n (pickupable RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15)\n (pickupable Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (isReceptacleObject Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_12_bar_12_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49)\n \n \n \n \n (inReceptacle Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65)\n (inReceptacle CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65)\n (inReceptacle Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle Book_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52)\n (inReceptacle TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29)\n (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41)\n (inReceptacle CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13)\n (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60)\n (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25 loc_bar__minus_20_bar_13_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60)\n (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15)\n (objectAtLocation CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0)\n (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0)\n (objectAtLocation Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 loc_bar__minus_12_bar_7_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 loc_bar__minus_4_bar_7_bar_1_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 SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take tissuebox 1 from coffeetable 1", "go to sidetable 1", "move tissuebox 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1466077011fdcfbf3a463abd4e07f43d3bff4e05 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/initial_state.pddl @@ -0,0 +1,563 @@ + +(define (problem plan_trial_T20190908_114112_465371) +(: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_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 - object + Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15 - object + Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object + Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object + CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60 - object + CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object + Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object + Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object + CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53 - object + CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25 - object + FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object + HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object + KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15 - object + Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object + Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object + Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object + Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 - object + Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31 - object + Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 - object + Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 - object + Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object + RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15 - object + Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 - object + Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 - object + Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object + TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63 - object + WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object + Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object + ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle + CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle + Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle + GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle + SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle + SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle + SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle + Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle + loc_bar__minus_11_bar_17_bar_0_bar_15 - location + loc_bar__minus_20_bar_13_bar_2_bar_60 - location + loc_bar__minus_22_bar_17_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_60 - location + loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_21_bar_5_bar_2_bar_60 - location + loc_bar__minus_1_bar_13_bar_1_bar_60 - location + loc_bar__minus_21_bar_14_bar_2_bar_60 - location + loc_bar__minus_14_bar_6_bar_2_bar_60 - location + loc_bar__minus_1_bar_15_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_19_bar_2_bar_3_bar_60 - location + loc_bar__minus_20_bar_10_bar_3_bar_60 - location + loc_bar__minus_21_bar_12_bar_2_bar_60 - location + loc_bar__minus_20_bar_15_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_15 - location + loc_bar__minus_12_bar_14_bar_2_bar_60 - location + loc_bar__minus_11_bar_16_bar_1_bar_60 - location + loc_bar__minus_2_bar_14_bar_1_bar_0 - location + loc_bar__minus_6_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_6_bar_1_bar_0 - location + loc_bar__minus_12_bar_7_bar_0_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar_0 - location + loc_bar__minus_12_bar_12_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType) + (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType) + (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType) + (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType) + (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType) + (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType) + (objectType TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63 TissueBoxType) + (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType) + (objectType KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15 KeyChainType) + (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType) + (objectType CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25 CellPhoneType) + (objectType Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 StatueType) + (objectType Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 PencilType) + (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType) + (objectType CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53 CreditCardType) + (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType) + (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType) + (objectType Book_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 BookType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType) + (objectType Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 PenType) + (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType) + (objectType Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 StatueType) + (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType) + (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType) + (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType) + (objectType Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15 BookType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType) + (objectType Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 PenType) + (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType) + (objectType CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25 CreditCardType) + (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType) + (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType) + (objectType CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60 CellPhoneType) + (objectType RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15 RemoteControlType) + (objectType Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31 PenType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType) + (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain SideTableType WateringCanType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType RemoteControlType) + (canContain DresserType TissueBoxType) + (canContain DresserType StatueType) + (canContain DresserType WateringCanType) + (pickupable TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63) + (pickupable KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15) + (pickupable CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25) + (pickupable Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55) + (pickupable Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15) + (pickupable CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53) + (pickupable Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44) + (pickupable Book_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38) + (pickupable Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40) + (pickupable Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36) + (pickupable Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59) + (pickupable Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72) + (pickupable Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15) + (pickupable Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55) + (pickupable CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25) + (pickupable Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09) + (pickupable WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14) + (pickupable CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60) + (pickupable RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15) + (pickupable Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31) + (isReceptacleObject Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar__minus_12_bar_12_bar_2_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49) + + + + + (inReceptacle Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65) + (inReceptacle CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65) + (inReceptacle Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52) + (inReceptacle Book_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52) + (inReceptacle Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31 SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52) + (inReceptacle TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29) + (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41) + (inReceptacle CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13) + (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60) + (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_05_dot_79_bar__plus_00_dot_73_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_05_dot_70_bar__plus_00_dot_09_bar__plus_02_dot_25 loc_bar__minus_20_bar_13_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_59_bar__plus_00_dot_40_bar__plus_03_dot_53 loc_bar__minus_6_bar_11_bar_0_bar_60) + (objectAtLocation Book_bar__minus_03_dot_04_bar__plus_00_dot_41_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__plus_01_dot_38 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_19_bar__plus_00_dot_41_bar__plus_02_dot_63 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_05_dot_79_bar__plus_00_dot_72_bar__plus_02_dot_25 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_75_bar__plus_00_dot_41_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15) + (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15) + (objectAtLocation CellPhone_bar__minus_01_dot_34_bar__plus_00_dot_40_bar__plus_03_dot_60 loc_bar__minus_6_bar_11_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_34_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0) + (objectAtLocation Pencil_bar__minus_03_dot_48_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 loc_bar__minus_12_bar_7_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_18_bar__plus_00_dot_76_bar__plus_01_dot_55 loc_bar__minus_4_bar_7_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o TissueBoxType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e43838fe6dfbabf39759c61dbe7bdbf1776dcc65 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114112_465371/traj_data.json @@ -0,0 +1,2905 @@ +{ + "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", + 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and walk up to the smaller of the two brown tables.", + "Place the box of tissues down on the table, to the left of the statue." + ], + "task_desc": "Move a box of tissues to a small table. ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3YT88D1N0BPVYAKB7TN55VU7P0IK3A", + "high_descs": [ + "Turn to the right and then turn left to face the table. ", + "Pick up the box of tissue on the table. ", + "Turn left and walk to the chair, then turn right and walk to the couch, then turn left and walk across the room.", + "Put the box of tissue paper on the table to the left of the statue. " + ], + "task_desc": "To move the tissue.", + "votes": [ + 1, + 1, + 1, + 0, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3N2BF7Y2VTL5I6RD7QPNO2NLXNSHM6", + "high_descs": [ + "move forward to the center table", + "pick up the paper box on the table", + "move left to the table", + "drop the paper box on the table" + ], + "task_desc": "drop a paper box 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_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..356100d054489c760831c1c8d265ec72dacd2e0a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/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 tissuebox 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_114140_648099)\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_27_bar__plus_00_dot_40_bar__plus_03_dot_49 - object\n Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object\n Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object\n CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15 - object\n CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15 - object\n CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62 - object\n Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object\n Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object\n Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object\n CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86 - object\n CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50 - object\n FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object\n HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object\n KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 - object\n KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40 - object\n Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object\n LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object\n Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object\n Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object\n Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34 - object\n Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 - object\n Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object\n RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25 - object\n Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 - object\n Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63 - object\n Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object\n TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53 - object\n TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 - object\n WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object\n Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object\n Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object\n ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle\n CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle\n Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle\n GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle\n SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle\n SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle\n SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle\n Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle\n loc_bar__minus_11_bar_17_bar_0_bar_15 - location\n loc_bar__minus_20_bar_13_bar_2_bar_60 - location\n loc_bar__minus_22_bar_17_bar_0_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_60 - location\n loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar__minus_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_17_bar_17_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_2_bar_0 - location\n loc_bar__minus_21_bar_5_bar_2_bar_60 - location\n loc_bar__minus_1_bar_13_bar_1_bar_60 - location\n loc_bar__minus_21_bar_14_bar_2_bar_60 - location\n loc_bar__minus_14_bar_6_bar_2_bar_60 - location\n loc_bar__minus_1_bar_15_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_19_bar_2_bar_3_bar_60 - location\n loc_bar__minus_20_bar_10_bar_3_bar_60 - location\n loc_bar__minus_21_bar_12_bar_2_bar_60 - location\n loc_bar__minus_20_bar_15_bar_2_bar_60 - location\n loc_bar__minus_5_bar_2_bar_1_bar_15 - location\n loc_bar__minus_12_bar_14_bar_2_bar_60 - location\n loc_bar__minus_11_bar_16_bar_1_bar_60 - location\n loc_bar__minus_2_bar_14_bar_1_bar_0 - location\n loc_bar__minus_6_bar_11_bar_0_bar_60 - location\n loc_bar__minus_3_bar_6_bar_1_bar_0 - location\n loc_bar__minus_12_bar_7_bar_0_bar_60 - location\n loc_bar__minus_13_bar_5_bar_2_bar_0 - location\n loc_bar__minus_14_bar_13_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType)\n (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType)\n (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType)\n (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType)\n (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType)\n (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType)\n (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType)\n (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType)\n (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType)\n (objectType CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50 CreditCardType)\n (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType)\n (objectType KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40 KeyChainType)\n (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType)\n (objectType Book_bar__minus_01_dot_27_bar__plus_00_dot_40_bar__plus_03_dot_49 BookType)\n (objectType TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53 TissueBoxType)\n (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType)\n (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType)\n (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType)\n (objectType Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63 StatueType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType)\n (objectType CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86 CreditCardType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType)\n (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType)\n (objectType RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25 RemoteControlType)\n (objectType Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 StatueType)\n (objectType CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15 CellPhoneType)\n (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType)\n (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType)\n (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType)\n (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType)\n (objectType KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 KeyChainType)\n (objectType CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62 CellPhoneType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType)\n (objectType CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15 CellPhoneType)\n (objectType Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 PenType)\n (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType)\n (objectType Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34 PencilType)\n (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType)\n (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType)\n (objectType TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 TissueBoxType)\n (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType)\n (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType)\n (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ArmChairType BoxType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType RemoteControlType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType BookType)\n (canContain SofaType CellPhoneType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain CoffeeTableType PenType)\n (canContain CoffeeTableType BookType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType CellPhoneType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType PencilType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain CoffeeTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType WateringCanType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain SideTableType WateringCanType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType WateringCanType)\n (pickupable CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50)\n (pickupable KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40)\n (pickupable Book_bar__minus_01_dot_27_bar__plus_00_dot_40_bar__plus_03_dot_49)\n (pickupable TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53)\n (pickupable Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (pickupable Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63)\n (pickupable CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86)\n (pickupable RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25)\n (pickupable Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36)\n (pickupable CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15)\n (pickupable Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59)\n (pickupable Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72)\n (pickupable KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54)\n (pickupable CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62)\n (pickupable CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15)\n (pickupable Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55)\n (pickupable Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34)\n (pickupable Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09)\n (pickupable WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14)\n (pickupable TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15)\n (isReceptacleObject Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68)\n (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_14_bar_13_bar_3_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49)\n \n \n \n \n (inReceptacle Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40)\n (inReceptacle Book_bar__minus_01_dot_27_bar__plus_00_dot_40_bar__plus_03_dot_49 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65)\n (inReceptacle Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34)\n (inReceptacle CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29)\n (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29)\n (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41)\n (inReceptacle KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41)\n (inReceptacle CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68)\n (inReceptacle CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68)\n (inReceptacle CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68)\n (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62)\n \n \n (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60)\n (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50 loc_bar__minus_21_bar_14_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62 loc_bar__minus_20_bar_15_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_27_bar__plus_00_dot_40_bar__plus_03_dot_49 loc_bar__minus_6_bar_11_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 loc_bar__minus_17_bar_17_bar_2_bar_60)\n (objectAtLocation Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 loc_bar__minus_14_bar_6_bar_2_bar_60)\n (objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60)\n (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86 loc_bar__minus_20_bar_15_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15)\n (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15)\n (objectAtLocation CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15 loc_bar__minus_21_bar_5_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0)\n (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0)\n (objectAtLocation Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 loc_bar__minus_12_bar_7_bar_0_bar_60)\n (objectAtLocation Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63 loc_bar__minus_12_bar_14_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 TissueBoxType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take tissuebox 2 from coffeetable 1", "go to sidetable 1", "move tissuebox 2 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b9862498cf22f25141f9b772e937b64f273cee80 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/initial_state.pddl @@ -0,0 +1,563 @@ + +(define (problem plan_trial_T20190908_114140_648099) +(: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_27_bar__plus_00_dot_40_bar__plus_03_dot_49 - object + Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 - object + Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 - object + CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15 - object + CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15 - object + CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62 - object + Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 - object + Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 - object + Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 - object + CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86 - object + CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50 - object + FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 - object + HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 - object + KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 - object + KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40 - object + Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 - object + Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 - object + Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 - object + Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34 - object + Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 - object + Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 - object + RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25 - object + Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 - object + Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63 - object + Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 - object + TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53 - object + TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 - object + WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 - object + Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 - object + Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 - object + ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 - receptacle + CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 - receptacle + Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 - receptacle + GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 - receptacle + SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 - receptacle + SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 - receptacle + SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 - receptacle + Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 - receptacle + loc_bar__minus_11_bar_17_bar_0_bar_15 - location + loc_bar__minus_20_bar_13_bar_2_bar_60 - location + loc_bar__minus_22_bar_17_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_60 - location + loc_bar__minus_2_bar_10_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_2_bar_1_bar__minus_15 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_17_bar_17_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_21_bar_5_bar_2_bar_60 - location + loc_bar__minus_1_bar_13_bar_1_bar_60 - location + loc_bar__minus_21_bar_14_bar_2_bar_60 - location + loc_bar__minus_14_bar_6_bar_2_bar_60 - location + loc_bar__minus_1_bar_15_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_19_bar_2_bar_3_bar_60 - location + loc_bar__minus_20_bar_10_bar_3_bar_60 - location + loc_bar__minus_21_bar_12_bar_2_bar_60 - location + loc_bar__minus_20_bar_15_bar_2_bar_60 - location + loc_bar__minus_5_bar_2_bar_1_bar_15 - location + loc_bar__minus_12_bar_14_bar_2_bar_60 - location + loc_bar__minus_11_bar_16_bar_1_bar_60 - location + loc_bar__minus_2_bar_14_bar_1_bar_0 - location + loc_bar__minus_6_bar_11_bar_0_bar_60 - location + loc_bar__minus_3_bar_6_bar_1_bar_0 - location + loc_bar__minus_12_bar_7_bar_0_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar_0 - location + loc_bar__minus_14_bar_13_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 GarbageCanType) + (receptacleType ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 ArmChairType) + (receptacleType Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 SofaType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 DrawerType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 DrawerType) + (receptacleType CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 CoffeeTableType) + (receptacleType SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 SideTableType) + (receptacleType SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 SideTableType) + (receptacleType Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 DrawerType) + (receptacleType SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 SideTableType) + (receptacleType Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 DresserType) + (objectType CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50 CreditCardType) + (objectType Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 ChairType) + (objectType KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40 KeyChainType) + (objectType Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 PaintingType) + (objectType Book_bar__minus_01_dot_27_bar__plus_00_dot_40_bar__plus_03_dot_49 BookType) + (objectType TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53 TissueBoxType) + (objectType FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 FloorLampType) + (objectType HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 HousePlantType) + (objectType Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 BoxType) + (objectType Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63 StatueType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 WindowType) + (objectType CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86 CreditCardType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 PaintingType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 PaintingType) + (objectType Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 ChairType) + (objectType RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25 RemoteControlType) + (objectType Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 StatueType) + (objectType CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15 CellPhoneType) + (objectType Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 PillowType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 LightSwitchType) + (objectType Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 LaptopType) + (objectType Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 PaintingType) + (objectType KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 KeyChainType) + (objectType CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62 CellPhoneType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 WindowType) + (objectType CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15 CellPhoneType) + (objectType Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 PenType) + (objectType Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 WindowType) + (objectType Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34 PencilType) + (objectType Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 BootsType) + (objectType WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 WateringCanType) + (objectType TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 TissueBoxType) + (objectType Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 ChairType) + (objectType Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 WindowType) + (objectType Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 TelevisionType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType 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(openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68) + (openable Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar__minus_14_bar_13_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49) + + + + + (inReceptacle Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40) + (inReceptacle Book_bar__minus_01_dot_27_bar__plus_00_dot_40_bar__plus_03_dot_49 ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65) + (inReceptacle Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34 CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34) + (inReceptacle CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29) + (inReceptacle HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29) + (inReceptacle Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41) + (inReceptacle KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41) + (inReceptacle CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68) + (inReceptacle CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68) + (inReceptacle CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50 Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68) + (inReceptacle Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_32_bar__plus_00_dot_00_bar__plus_03_dot_65 loc_bar__minus_6_bar_11_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_04_bar__plus_00_dot_03_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_13 loc_bar__minus_20_bar_13_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_21_bar__plus_02_dot_68 loc_bar__minus_20_bar_15_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_13 loc_bar__minus_21_bar_12_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_05_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_68 loc_bar__minus_21_bar_14_bar_2_bar_60) + (receptacleAtLocation Dresser_bar__minus_05_dot_77_bar__plus_00_dot_02_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_05_dot_82_bar__plus_00_dot_02_bar__plus_04_dot_66 loc_bar__minus_22_bar_17_bar_0_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_01_dot_52 loc_bar__minus_4_bar_7_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_31_bar__plus_00_dot_02_bar__plus_00_dot_62 loc_bar__minus_5_bar_2_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_05_dot_57_bar__plus_00_dot_02_bar__plus_00_dot_29 loc_bar__minus_21_bar_5_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_00_dot_41 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_03_dot_48_bar__plus_00_dot_41_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_05_dot_74_bar__plus_00_dot_41_bar__plus_02_dot_50 loc_bar__minus_21_bar_14_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_41_bar__plus_02_dot_53 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_43_bar__plus_00_dot_43_bar__plus_00_dot_54 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_05_dot_74_bar__plus_00_dot_09_bar__plus_02_dot_62 loc_bar__minus_20_bar_15_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_16_bar__plus_00_dot_02_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_73_bar__plus_00_dot_02_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_01_dot_27_bar__plus_00_dot_40_bar__plus_03_dot_49 loc_bar__minus_6_bar_11_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_01_bar__plus_00_dot_02_bar__plus_03_dot_90 loc_bar__minus_17_bar_17_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_43_bar__plus_00_dot_64_bar__plus_02_dot_44 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_05_dot_74_bar__plus_00_dot_72_bar__plus_02_dot_40 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_15_bar__plus_00_dot_62_bar__plus_00_dot_59 loc_bar__minus_14_bar_6_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__minus_00_dot_20_bar__plus_00_dot_02_bar__plus_04_dot_49 loc_bar__minus_1_bar_15_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_05_dot_24_bar__plus_00_dot_02_bar__plus_00_dot_14 loc_bar__minus_19_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_15 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_05_dot_54_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_21_bar_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_05_dot_67_bar__plus_00_dot_09_bar__plus_02_dot_86 loc_bar__minus_20_bar_15_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_05_dot_88_bar__plus_00_dot_72_bar__plus_02_dot_25 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Boots_bar__plus_00_dot_03_bar__plus_00_dot_02_bar__plus_03_dot_09 loc_bar__minus_1_bar_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_53_bar__plus_04_dot_85 loc_bar__minus_11_bar_17_bar_0_bar_15) + (objectAtLocation Window_bar__plus_00_dot_13_bar__plus_02_dot_38_bar__plus_02_dot_42 loc_bar__minus_2_bar_10_bar_1_bar__minus_30) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_22_bar__plus_00_dot_46 loc_bar__minus_5_bar_2_bar_1_bar_15) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_87_bar__plus_00_dot_50 loc_bar__minus_5_bar_2_bar_1_bar__minus_15) + (objectAtLocation CellPhone_bar__minus_05_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_15 loc_bar__minus_21_bar_5_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_05_dot_74_bar__plus_00_dot_73_bar__plus_02_dot_55 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Television_bar__minus_05_dot_76_bar__plus_01_dot_21_bar__plus_02_dot_39 loc_bar__minus_20_bar_10_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_33_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar__minus_5_bar_2_bar_1_bar_60) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_03_dot_51 loc_bar__minus_2_bar_14_bar_1_bar_0) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_74_bar__plus_01_dot_38 loc_bar__minus_3_bar_6_bar_1_bar_0) + (objectAtLocation Window_bar__plus_00_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_44 loc_bar__minus_2_bar_10_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_01_dot_00_bar__plus_01_dot_70_bar__plus_00_dot_04 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Painting_bar__minus_03_dot_31_bar__plus_01_dot_67_bar__plus_00_dot_04 loc_bar__minus_13_bar_5_bar_2_bar_0) + (objectAtLocation Pencil_bar__minus_02_dot_60_bar__plus_00_dot_42_bar__plus_02_dot_34 loc_bar__minus_12_bar_14_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_98_bar__plus_00_dot_53_bar__plus_02_dot_36 loc_bar__minus_12_bar_7_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_03_dot_04_bar__plus_00_dot_42_bar__plus_02_dot_63 loc_bar__minus_12_bar_14_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o TissueBoxType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3f41ce38228ca95aa6033e5ff6795f29cfc85ed9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-TissueBox-None-SideTable-229/trial_T20190908_114140_648099/traj_data.json @@ -0,0 +1,2509 @@ +{ + "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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} + ], + "object_toggles": [], + "random_seed": 695854804, + "scene_num": 229 + }, + "task_id": "trial_T20190908_114140_648099", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3SFPSMFRSRTB3_35BLDD71I9OAZELGR4WLB5A3KTRVZ7", + "high_descs": [ + "Turn left, go past table on left, turn left. Go to center of table, turn left to face table.", + "Pick of tissue box from center of table.", + "Turn right, proceed to table at end of room.", + "Place tissue box on left table, on the lower left corner." + ], + "task_desc": "Move tissue box from one table to another.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3TU5ZICBRGS3AAOCWF2YSYER4S58QL", + "high_descs": [ + "turn left, walk toward the couch, turn left, turn left to face the coffee table", + "pick up the tissue box that is on the coffee table", + "turn right, walk forward to the table", + "put the tissue box on the table" + ], + "task_desc": "move tissue box from coffee table to a small table", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3OSWBBLG1HOZ02LFZ1868YOLCZJDXD", + "high_descs": [ + "Turn left and walk around to the other side of the coffee table, across from the couch.", + "Pick up the closest tissue box.", + "Turn right and walk ahead to the small wooden table, to the left of the desk.", + "Place the tissue box on the table in the front left corner." + ], + "task_desc": "Place a tissue box on a 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-ButterKnife-Cup-SinkBasin-25/trial_T20190907_222835_423051/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-25/trial_T20190907_222835_423051/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a5640ec43329ce44bf253e10046515e8b1b0d3f4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-25/trial_T20190907_222835_423051/initial_state.pddl @@ -0,0 +1,988 @@ + +(define (problem plan_trial_T20190907_222835_423051) +(: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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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_8_bar_6_bar_3_bar_60 - 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_6_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 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Spoon_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_00_dot_88) + (pickupable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_34) + (pickupable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_93) + (pickupable Plate_bar__minus_02_dot_73_bar__plus_01_dot_15_bar__plus_02_dot_31) + (pickupable Fork_bar__minus_02_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_55) + (pickupable Cup_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_48) + (pickupable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (pickupable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_25) + (pickupable ButterKnife_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30) + (pickupable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_47) + (pickupable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_31) + (pickupable Apple_bar__minus_00_dot_30_bar__plus_00_dot_13_bar__plus_02_dot_54) + (pickupable Knife_bar__minus_02_dot_84_bar__plus_00_dot_85_bar__plus_00_dot_35) + (pickupable SoapBottle_bar__minus_02_dot_17_bar__plus_00_dot_12_bar__plus_00_dot_36) + (pickupable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (pickupable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_05) + (pickupable SoapBottle_bar__minus_02_dot_36_bar__plus_01_dot_43_bar__plus_00_dot_09) + (pickupable Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88) + (pickupable SaltShaker_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_48) + (pickupable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (pickupable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_71) + (pickupable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_67) + (pickupable Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_36) + (pickupable DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_70_bar__plus_01_dot_25) + (pickupable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (pickupable Egg_bar__minus_00_dot_40_bar__plus_00_dot_08_bar__plus_02_dot_57) + (pickupable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_02_dot_40) + (pickupable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (pickupable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_13) + (pickupable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (pickupable Spatula_bar__minus_02_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_20) + (pickupable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (pickupable Potato_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_50) + (pickupable Potato_bar__minus_02_dot_73_bar__plus_00_dot_86_bar__plus_02_dot_22) + (pickupable Cup_bar__minus_02_dot_63_bar__plus_01_dot_44_bar__plus_00_dot_25) + (pickupable PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_46) + (pickupable PepperShaker_bar__minus_01_dot_94_bar__plus_00_dot_12_bar__plus_00_dot_52) + (pickupable SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_87) + (pickupable Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26) + (pickupable Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56) + (pickupable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_63) + (isReceptacleObject Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_93) + (isReceptacleObject Plate_bar__minus_02_dot_73_bar__plus_01_dot_15_bar__plus_02_dot_31) + (isReceptacleObject Cup_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_48) + (isReceptacleObject Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (isReceptacleObject Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_47) + (isReceptacleObject Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (isReceptacleObject Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_36) + (isReceptacleObject Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (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) + (isReceptacleObject Cup_bar__minus_02_dot_63_bar__plus_01_dot_44_bar__plus_00_dot_25) + (isReceptacleObject Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_63) + (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_8_bar_6_bar_3_bar_30) + + (cleanable Ladle_bar__minus_02_dot_38_bar__plus_00_dot_87_bar__plus_00_dot_20) + (cleanable Spoon_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_00_dot_88) + (cleanable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_34) + (cleanable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_93) + (cleanable Plate_bar__minus_02_dot_73_bar__plus_01_dot_15_bar__plus_02_dot_31) + (cleanable Fork_bar__minus_02_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_55) + (cleanable Cup_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_48) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_25) + (cleanable ButterKnife_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30) + (cleanable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_47) + (cleanable Apple_bar__minus_00_dot_30_bar__plus_00_dot_13_bar__plus_02_dot_54) + (cleanable Knife_bar__minus_02_dot_84_bar__plus_00_dot_85_bar__plus_00_dot_35) + (cleanable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (cleanable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_05) + (cleanable Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88) + (cleanable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (cleanable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_71) + (cleanable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_67) + (cleanable Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_36) + (cleanable DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_70_bar__plus_01_dot_25) + (cleanable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (cleanable Egg_bar__minus_00_dot_40_bar__plus_00_dot_08_bar__plus_02_dot_57) + (cleanable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_02_dot_40) + (cleanable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_13) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (cleanable Spatula_bar__minus_02_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_20) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable Potato_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_50) + (cleanable Potato_bar__minus_02_dot_73_bar__plus_00_dot_86_bar__plus_02_dot_22) + (cleanable Cup_bar__minus_02_dot_63_bar__plus_01_dot_44_bar__plus_00_dot_25) + (cleanable Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26) + (cleanable Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56) + (cleanable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_63) + + (heatable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_34) + (heatable Plate_bar__minus_02_dot_73_bar__plus_01_dot_15_bar__plus_02_dot_31) + (heatable Cup_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_48) + (heatable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_25) + (heatable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_47) + (heatable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_31) + (heatable Apple_bar__minus_00_dot_30_bar__plus_00_dot_13_bar__plus_02_dot_54) + (heatable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (heatable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_71) + (heatable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_67) + (heatable Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_36) + (heatable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (heatable Egg_bar__minus_00_dot_40_bar__plus_00_dot_08_bar__plus_02_dot_57) + (heatable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_02_dot_40) + (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_13) + (heatable Potato_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_50) + (heatable Potato_bar__minus_02_dot_73_bar__plus_00_dot_86_bar__plus_02_dot_22) + (heatable Cup_bar__minus_02_dot_63_bar__plus_01_dot_44_bar__plus_00_dot_25) + (heatable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_63) + (coolable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_34) + (coolable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_93) + (coolable Plate_bar__minus_02_dot_73_bar__plus_01_dot_15_bar__plus_02_dot_31) + (coolable Cup_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_48) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_25) + (coolable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_47) + (coolable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_31) + (coolable Apple_bar__minus_00_dot_30_bar__plus_00_dot_13_bar__plus_02_dot_54) + (coolable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (coolable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_05) + (coolable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (coolable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_71) + (coolable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_67) + (coolable Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_36) + (coolable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (coolable Egg_bar__minus_00_dot_40_bar__plus_00_dot_08_bar__plus_02_dot_57) + (coolable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_02_dot_40) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_13) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Potato_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_50) + (coolable Potato_bar__minus_02_dot_73_bar__plus_00_dot_86_bar__plus_02_dot_22) + (coolable Cup_bar__minus_02_dot_63_bar__plus_01_dot_44_bar__plus_00_dot_25) + (coolable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_63) + + + + + + (sliceable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_34) + (sliceable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_25) + (sliceable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_31) + (sliceable Apple_bar__minus_00_dot_30_bar__plus_00_dot_13_bar__plus_02_dot_54) + (sliceable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (sliceable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_05) + (sliceable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_71) + (sliceable Apple_bar__minus_00_dot_33_bar__plus_00_dot_13_bar__plus_02_dot_67) + (sliceable Egg_bar__minus_00_dot_40_bar__plus_00_dot_08_bar__plus_02_dot_57) + (sliceable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_02_dot_40) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Tomato_bar__minus_02_dot_49_bar__plus_00_dot_87_bar__plus_00_dot_13) + (sliceable Potato_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_50) + (sliceable Potato_bar__minus_02_dot_73_bar__plus_00_dot_86_bar__plus_02_dot_22) + + (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_93 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle DishSponge_bar__minus_00_dot_43_bar__plus_00_dot_70_bar__plus_01_dot_25 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 Spoon_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_00_dot_88 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Ladle_bar__minus_02_dot_38_bar__plus_00_dot_87_bar__plus_00_dot_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle 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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 Spatula_bar__minus_02_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_63 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Potato_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_50 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 Fork_bar__minus_02_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_55 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle Cup_bar__minus_02_dot_63_bar__plus_01_dot_44_bar__plus_00_dot_25 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(objectAtLocation Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_36 loc_bar__minus_4_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_02_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_84_bar__plus_00_dot_85_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_40_bar__plus_00_dot_08_bar__plus_02_dot_57 loc_bar__minus_4_bar_10_bar_1_bar_60) + (objectAtLocation Cup_bar__minus_02_dot_63_bar__plus_01_dot_44_bar__plus_00_dot_25 loc_bar__minus_6_bar_4_bar_3_bar_0) + (objectAtLocation ButterKnife_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60) + 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-2.726792, + "y": 1.529565, + "z": 2.04581022 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -1.94307208, + "y": 0.12030822, + "z": 0.5187672 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -0.428532422, + "y": 0.6952114, + "z": 1.252084 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.979999661, + "y": 0.8554756, + "z": 0.249999955 + }, + "rotation": { + "x": 1.09836465e-05, + "y": 29.9999084, + "z": 1.836617e-05 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -0.400792, + "y": 0.8247293, + "z": 0.8813459 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": 3607024822, + "scene_num": 25 + }, + "task_id": "trial_T20190907_222835_423051", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ACSS93E03ZUGX_3HMIGG0U4ON4YNT0RHUB4YXR9K18Y8", + "high_descs": [ + "Turn to the left to face the sink on the right.", + "Pick up the knife from inside the sink to the right.", + "Open the cabinet directly below the sink to the right and place the knife inside of the green bowl.", + "Pick up the green bowl with the knife in it and close the cabinet door.", + "Move slightly to the left to face the sink on the left.", + "Place the green bowl in the sink on the left." + ], + "task_desc": "Move the green bowl with the knife inside of it to the left sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A11IIS435RPN2O_31UV0MXWNTTZL5VTP1156QTCHB35IY", + "high_descs": [ + "Turn around and go towards the wash basin.", + "Pick up the butter knife from inside the wash basin.", + "Open the cabinet below the wash basin.", + "Pick up the green ice cream bowl from the cabinet.", + "Place the butter knife in the bowl.", + "Turn around and walk two step and then turn right and turn right again towards the small sink and place the ice cream bowl in the left side small sink." + ], + "task_desc": "Get the butter knife in an ice cream bowl and put in small sink.", + "votes": [ + 1, + 0, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3TE3O85733PKF7FPX5TGMBRRKWL2RM", + "high_descs": [ + "Turn left and move to the sink.", + "Pick up the knife in the sink. ", + "Open the cabinet under the sink and put the knife in the green cup.", + "Pick up the green cup with knife in the cabinet.", + "Bring the green cup with knife to the left sink. ", + "Put the cup with knife in the sink on the left. " + ], + "task_desc": "Put a green cup with knife in the left sink. ", + "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-ButterKnife-Cup-SinkBasin-25/trial_T20190907_222944_187254/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-25/trial_T20190907_222944_187254/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e92ea510f36adf5d314bd3e2621def4cd3e47fda --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-25/trial_T20190907_222944_187254/initial_state.pddl @@ -0,0 +1,931 @@ + +(define (problem plan_trial_T20190907_222944_187254) +(: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_73_bar__plus_00_dot_90_bar__plus_02_dot_13 - object + Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_05 - object + Bowl_bar__minus_02_dot_65_bar__plus_00_dot_12_bar__plus_01_dot_55 - object + Bowl_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_23 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_22 - object + ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_51 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_31 - object + Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_01_dot_96 - object + DishSponge_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_33 - object + DishSponge_bar__minus_00_dot_89_bar__plus_00_dot_71_bar__plus_00_dot_38 - object + DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_88 - object + Egg_bar__minus_02_dot_89_bar__plus_01_dot_47_bar__plus_01_dot_96 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_54 - object + Fork_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + Knife_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_20 - object + Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 - object + Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_32 - object + Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 - 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 + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + PepperShaker_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_00_dot_66 - object + PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 - object + PepperShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_06 - object + Plate_bar__minus_00_dot_32_bar__plus_00_dot_83_bar__plus_01_dot_10 - object + Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31 - object + Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_49 - 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_02_dot_84_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_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_64 - object + SoapBottle_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 - object + Spoon_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__plus_01_dot_47 - 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_67_bar__plus_01_dot_50_bar__plus_02_dot_40 - object + Tomato_bar__minus_02_dot_89_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 + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle + loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_10_bar_1_bar_45 - location + loc_bar__minus_7_bar_7_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_45 - 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_6_bar_7_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 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+ (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_7_bar_3_bar_30) + + (cleanable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_05) + (cleanable Plate_bar__minus_00_dot_32_bar__plus_00_dot_83_bar__plus_01_dot_10) + (cleanable Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_32) + (cleanable Spoon_bar__minus_02_dot_53_bar__plus_00_dot_69_bar__plus_01_dot_47) + (cleanable Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19) + (cleanable DishSponge_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_33) + (cleanable Egg_bar__minus_02_dot_89_bar__plus_01_dot_47_bar__plus_01_dot_96) + (cleanable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_01_dot_96) + (cleanable Fork_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_43) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (cleanable Knife_bar__minus_02_dot_38_bar__plus_00_dot_85_bar__plus_00_dot_20) + (cleanable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31) + (cleanable DishSponge_bar__minus_00_dot_89_bar__plus_00_dot_71_bar__plus_00_dot_38) + (cleanable Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39) + (cleanable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (cleanable Bowl_bar__minus_02_dot_65_bar__plus_00_dot_12_bar__plus_01_dot_55) + (cleanable DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_88) + (cleanable Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_31) + (cleanable ButterKnife_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_51) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable Tomato_bar__minus_02_dot_89_bar__plus_01_dot_19_bar__plus_02_dot_49) + (cleanable Bowl_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_23) + (cleanable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_49) + (cleanable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_40) + (cleanable Apple_bar__minus_02_dot_73_bar__plus_00_dot_90_bar__plus_02_dot_13) + (cleanable Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56) + (cleanable Fork_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_54) + + (heatable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_05) + (heatable Plate_bar__minus_00_dot_32_bar__plus_00_dot_83_bar__plus_01_dot_10) + (heatable Egg_bar__minus_02_dot_89_bar__plus_01_dot_47_bar__plus_01_dot_96) + (heatable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_01_dot_96) + (heatable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_22) + (heatable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31) + (heatable Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39) + (heatable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_31) + (heatable Tomato_bar__minus_02_dot_89_bar__plus_01_dot_19_bar__plus_02_dot_49) + (heatable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_49) + (heatable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_40) + (heatable Apple_bar__minus_02_dot_73_bar__plus_00_dot_90_bar__plus_02_dot_13) + (coolable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_05) + (coolable Plate_bar__minus_00_dot_32_bar__plus_00_dot_83_bar__plus_01_dot_10) + (coolable Egg_bar__minus_02_dot_89_bar__plus_01_dot_47_bar__plus_01_dot_96) + (coolable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_01_dot_96) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_22) + (coolable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (coolable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31) + (coolable Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39) + (coolable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (coolable Bowl_bar__minus_02_dot_65_bar__plus_00_dot_12_bar__plus_01_dot_55) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_31) + (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Tomato_bar__minus_02_dot_89_bar__plus_01_dot_19_bar__plus_02_dot_49) + (coolable Bowl_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_23) + (coolable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_49) + (coolable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_40) + (coolable Apple_bar__minus_02_dot_73_bar__plus_00_dot_90_bar__plus_02_dot_13) + + + + + + (sliceable Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_05) + (sliceable Egg_bar__minus_02_dot_89_bar__plus_01_dot_47_bar__plus_01_dot_96) + (sliceable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_22) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (sliceable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31) + (sliceable Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Tomato_bar__minus_02_dot_89_bar__plus_01_dot_19_bar__plus_02_dot_49) + (sliceable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_49) + (sliceable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_40) + (sliceable Apple_bar__minus_02_dot_73_bar__plus_00_dot_90_bar__plus_02_dot_13) + + (inReceptacle DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_88 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (inReceptacle Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Plate_bar__minus_00_dot_32_bar__plus_00_dot_83_bar__plus_01_dot_10 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_00_dot_66 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 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 PepperShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle DishSponge_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_21_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_38_bar__plus_00_dot_85_bar__plus_00_dot_20 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 SoapBottle_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_02_dot_38_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 Fork_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_54 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle DishSponge_bar__minus_00_dot_89_bar__plus_00_dot_71_bar__plus_00_dot_38 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle Spoon_bar__minus_02_dot_53_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 SaltShaker_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_00_dot_94 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (inReceptacle Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_32 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle Bowl_bar__minus_02_dot_65_bar__plus_00_dot_12_bar__plus_01_dot_55 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Apple_bar__minus_02_dot_84_bar__plus_01_dot_22_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Tomato_bar__minus_02_dot_89_bar__plus_01_dot_19_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Apple_bar__minus_02_dot_73_bar__plus_00_dot_90_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Egg_bar__minus_02_dot_89_bar__plus_01_dot_47_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bowl_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_23 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_64 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (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) + (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_6_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 loc_bar__minus_8_bar_4_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 loc_bar__minus_8_bar_4_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 loc_bar__minus_8_bar_5_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_5_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 loc_bar__minus_7_bar_7_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_8_bar_5_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin 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of you.", + "Turn around and walk over to the fridge.", + "Open the fridge and put the butter knife in the green cup that is inside the fridge.", + "Take the green cup with the butter knife in it out of the fridge ad close the fridge door.", + "Turn around and walk towards the oven, then hang a right and walk up to the sink.", + "Put the green cup with the butter knife in it into the left sink basin." + ], + "task_desc": "Put a green cup with a knife in it in the left sink basin.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_39GHHAVOMI8DKXBZTE3VDZ2YUUS4JZ", + "high_descs": [ + "Turn to the left to find the sink.", + "Pick up the knife, just in front of the sink.", + "Take the knife and turn around, then face the fridge on the left. ", + "Open the fridge and place the knife inside the green glass.", + "Take out the green glass and knife from the fridge, and shut the door.", + "Take the glass and turn left to find the sink.", + "Place the glass and knife inside the left sink." + ], + "task_desc": "Move a knife and glass to 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-ButterKnife-Cup-SinkBasin-25/trial_T20190907_223033_736610/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-25/trial_T20190907_223033_736610/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8315cf6194331b8da0d31749cd48e68f3b170a6b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Cup-SinkBasin-25/trial_T20190907_223033_736610/initial_state.pddl @@ -0,0 +1,947 @@ + +(define (problem plan_trial_T20190907_223033_736610) +(: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_00_dot_99_bar__plus_01_dot_18 - object + Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_02_dot_40 - object + Bowl_bar__minus_01_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_40 - object + Bowl_bar__minus_02_dot_00_bar__plus_00_dot_12_bar__plus_00_dot_40 - object + Bowl_bar__minus_02_dot_61_bar__plus_00_dot_12_bar__plus_01_dot_55 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_13 - object + ButterKnife_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_53 - object + ButterKnife_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_33 - 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Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object + Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_39 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + PepperShaker_bar__minus_02_dot_26_bar__plus_00_dot_82_bar__plus_00_dot_06 - object + PepperShaker_bar__minus_02_dot_76_bar__plus_01_dot_43_bar__plus_00_dot_38 - object + Plate_bar__minus_02_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_31 - object + Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13 - object + Potato_bar__minus_02_dot_89_bar__plus_01_dot_18_bar__plus_02_dot_40 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_87 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + 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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 + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle + loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_10_bar_1_bar_45 - location + loc_bar__minus_7_bar_7_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_45 - 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_7_bar_4_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 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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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 Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType) + (receptacleType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 CabinetType) + (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 StoveKnobType) + (objectType ButterKnife_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_53 ButterKnifeType) + (objectType Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 ChairType) + (objectType Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_32 LadleType) + (objectType Spatula_bar__minus_00_dot_98_bar__plus_00_dot_84_bar__plus_00_dot_50 SpatulaType) + (objectType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 SinkType) + (objectType Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_13 LettuceType) + (objectType PepperShaker_bar__minus_02_dot_26_bar__plus_00_dot_82_bar__plus_00_dot_06 PepperShakerType) + (objectType Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_02_dot_40 AppleType) + (objectType 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Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Potato_bar__minus_02_dot_89_bar__plus_01_dot_18_bar__plus_02_dot_40) + (coolable Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_13) + (coolable Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_02_dot_40) + (coolable Tomato_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_67) + (coolable Egg_bar__minus_02_dot_89_bar__plus_00_dot_85_bar__plus_00_dot_46) + (coolable Egg_bar__minus_02_dot_67_bar__plus_00_dot_85_bar__plus_02_dot_49) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Tomato_bar__minus_02_dot_78_bar__plus_01_dot_19_bar__plus_02_dot_49) + (coolable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13) + (coolable Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_39) + (coolable Bowl_bar__minus_02_dot_61_bar__plus_00_dot_12_bar__plus_01_dot_55) + (coolable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_13) + (coolable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (coolable Bowl_bar__minus_02_dot_00_bar__plus_00_dot_12_bar__plus_00_dot_40) + (coolable Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_44) + (coolable Cup_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_33) + (coolable Bowl_bar__minus_01_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_40) + (coolable Plate_bar__minus_02_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_31) + (coolable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Potato_bar__minus_02_dot_89_bar__plus_01_dot_18_bar__plus_02_dot_40) + + + + + + (sliceable Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_13) + (sliceable Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_02_dot_40) + (sliceable Tomato_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_67) + (sliceable Egg_bar__minus_02_dot_89_bar__plus_00_dot_85_bar__plus_00_dot_46) + (sliceable Egg_bar__minus_02_dot_67_bar__plus_00_dot_85_bar__plus_02_dot_49) + (sliceable Tomato_bar__minus_02_dot_78_bar__plus_01_dot_19_bar__plus_02_dot_49) + (sliceable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13) + (sliceable Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_13) + (sliceable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (sliceable Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_44) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Potato_bar__minus_02_dot_89_bar__plus_01_dot_18_bar__plus_02_dot_40) + + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle 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 ButterKnife_bar__minus_01_dot_88_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 Plate_bar__minus_02_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_31 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_02_dot_89_bar__plus_00_dot_85_bar__plus_00_dot_46 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spoon_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 Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_00_dot_81_bar__plus_00_dot_83_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_00_dot_98_bar__plus_00_dot_84_bar__plus_00_dot_50 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_87 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 PepperShaker_bar__minus_02_dot_26_bar__plus_00_dot_82_bar__plus_00_dot_06 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 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 Cup_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (inReceptacle Spoon_bar__minus_00_dot_89_bar__plus_00_dot_71_bar__plus_00_dot_45 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle Fork_bar__minus_02_dot_66_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_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 PepperShaker_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 SoapBottle_bar__minus_02_dot_40_bar__plus_01_dot_43_bar__plus_00_dot_11 Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23) + (inReceptacle Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_32 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle Bowl_bar__minus_02_dot_61_bar__plus_00_dot_12_bar__plus_01_dot_55 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle Bowl_bar__minus_02_dot_00_bar__plus_00_dot_12_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Bowl_bar__minus_01_dot_52_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 Egg_bar__minus_02_dot_67_bar__plus_00_dot_85_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_89_bar__plus_01_dot_18_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Tomato_bar__minus_02_dot_78_bar__plus_01_dot_19_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bread_bar__minus_02_dot_78_bar__plus_01_dot_49_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Apple_bar__minus_02_dot_78_bar__plus_01_dot_52_bar__plus_02_dot_40 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_13 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_39 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_44 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Tomato_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_67 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19) + + + (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) + 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90.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_3943cbe8", + "position": { + "x": -2.54089117, + "y": 1.89342344, + "z": 2.3168416 + }, + "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": -2.397328, + "y": 1.43380368, + "z": 0.114731081 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": -0.362648815, + "y": 0.106025338, + "z": 2.67462254 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_a3c14b3a", + "position": { + "x": -2.89241552, + "y": 1.182501, + "z": 2.39758968 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -2.504354, + "y": 0.8185999, + "z": 0.871343434 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_29dab58d", + "position": { + "x": -2.58694386, + "y": 0.8134297, + "z": 0.309928328 + }, + "rotation": { + "x": -0.002051589, + "y": -0.000256009, + "z": 0.000268003932 + } + }, + { + "objectName": "Spatula_77ce7117", + "position": { + "x": -0.9844614, + "y": 0.8385998, + "z": 0.5003637 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -2.66281247, + "y": 0.819159746, + "z": 0.5579939 + }, + "rotation": { + "x": 89.94405, + "y": 300.034546, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -2.671587, + "y": 0.849128664, + "z": 2.48553729 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -0.400792, + "y": 0.823938131, + "z": 1.32607329 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d1baac51", + "position": { + "x": -2.5815177, + "y": 0.823642, + "z": 0.953160763 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b2f1312c", + "position": { + "x": -2.72679281, + "y": 0.9087977, + "z": 2.13375473 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -2.762187, + "y": 1.43003523, + "z": 0.3807995 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -0.3634738, + "y": 0.696842432, + "z": 0.839278 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.9826262, + "y": 0.8554751, + "z": 0.253312767 + }, + "rotation": { + "x": 4.55102927e-05, + "y": 30.0703659, + "z": -0.00151702785 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -0.8882545, + "y": 0.7113168, + "z": 0.445048451 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.84400558, + "y": 0.916441262, + "z": 1.39082932 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.60917473, + "y": 0.118135333, + "z": 1.55042481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3067714991, + "scene_num": 25 + }, + "task_id": "trial_T20190907_223033_736610", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ELPYAFO7MANS_31IBVUNM9VGW988IUKDX7RAJE69FVI", + "high_descs": [ + "Look down at the sink.", + "Pick up the knife on the ledge of the sink.", + "Turn left and walk to the counter to the right of the stove.", + "Place the knife in the green cup on the counter.", + "Pick up the cup.", + "Turn right and walk back to the sink.", + "Place the cup in the left part of the sink." + ], + "task_desc": "Place a cup with a knife in it in a sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3NPI0JQDARMTNTTN3S9NI302JR8TPB", + "high_descs": [ + "Move a step to your right, so you're directly in front of the rightmost sink.", + "Pick up the butter knife from the counter in front of the sink.", + "Turn left and carry the knife to stand in front of the counter space between the stove and toaster.", + "Place the knife in the green cup on the counter.", + "Pick up the cup with the knife inside from the counter.", + "Turn and carry the cup and knife to stand in front of the two sinks.", + "Place the cup and knife in the leftmost sink." + ], + "task_desc": "Place a knife in a cup in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MXBLYX2CDGTP_3SKRO2GZ748R3IKYOHK5GGV8XZ01K0", + "high_descs": [ + "Turn to the sink on your left.", + "Pick up the knife in front of the sink.", + "Turn around and walk to the counter on the left with a green cup on it.", + "Put the knife in the green cup.", + "Pick up the cup with the knife in it.", + "Turn right and walk to the sink on your left.", + "Place the cup with the knife in the sink." + ], + "task_desc": "Put the green cup with the knife 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-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075025_456952/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075025_456952/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ca499165528fc8054d169fb5900e610085df9415 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075025_456952/initial_state.pddl @@ -0,0 +1,1195 @@ + +(define (problem plan_trial_T20190908_075025_456952) +(: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_78_bar__plus_00_dot_87_bar__minus_00_dot_83 - object + Bowl_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_14 - object + Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_37 - object + ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11 - 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_59_bar__plus_00_dot_88_bar__plus_00_dot_14 - object + Egg_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_25 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + Fork_bar__minus_00_dot_21_bar__plus_00_dot_91_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_01_dot_13 - object + Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_57 - object + 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Plate_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 - object + Potato_bar__plus_02_dot_06_bar__plus_00_dot_85_bar__minus_00_dot_83 - object + Potato_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_03 - object + Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24 - object + SaltShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_29 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_06_bar__plus_00_dot_17 - object + SoapBottle_bar__plus_01_dot_95_bar__plus_01_dot_65_bar__minus_01_dot_48 - object + Spatula_bar__minus_00_dot_69_bar__plus_00_dot_71_bar__minus_01_dot_80 - object + Spoon_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_22 - object + Spoon_bar__minus_00_dot_76_bar__plus_00_dot_69_bar__minus_01_dot_85 - object + Statue_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__minus_01_dot_84 - object + 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Spoon_bar__minus_00_dot_12_bar__plus_00_dot_70_bar__plus_00_dot_22) + (cleanable Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_57) + (cleanable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_47) + (cleanable Potato_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_03) + (cleanable Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67) + (cleanable Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76) + (cleanable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (cleanable Potato_bar__plus_02_dot_06_bar__plus_00_dot_85_bar__minus_00_dot_83) + (cleanable Apple_bar__plus_01_dot_78_bar__plus_00_dot_87_bar__minus_00_dot_83) + (cleanable Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13) + (cleanable Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_55) + (cleanable ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11) + (cleanable Ladle_bar__plus_00_dot_07_bar__plus_01_dot_17_bar__plus_00_dot_57) + (cleanable Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_64) + (cleanable Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24) + (cleanable DishSponge_bar__plus_02_dot_59_bar__plus_00_dot_88_bar__plus_00_dot_14) + (cleanable Mug_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_01_dot_76) + (cleanable Fork_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_29) + (cleanable ButterKnife_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_66) + (cleanable Spoon_bar__minus_00_dot_76_bar__plus_00_dot_69_bar__minus_01_dot_85) + (cleanable ButterKnife_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_08) + (cleanable Plate_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19) + (cleanable Knife_bar__minus_01_dot_26_bar__plus_00_dot_93_bar__minus_01_dot_85) + (cleanable Bowl_bar__plus_02_dot_49_bar__plus_00_dot_55_bar__plus_00_dot_14) + (cleanable Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_19) + (cleanable Spatula_bar__minus_00_dot_69_bar__plus_00_dot_71_bar__minus_01_dot_80) + + (heatable Egg_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_25) + (heatable Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_37) + (heatable Mug_bar__plus_01_dot_88_bar__plus_01_dot_01_bar__minus_01_dot_35) + (heatable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_47) + (heatable Potato_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_03) + (heatable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (heatable Potato_bar__plus_02_dot_06_bar__plus_00_dot_85_bar__minus_00_dot_83) + (heatable Apple_bar__plus_01_dot_78_bar__plus_00_dot_87_bar__minus_00_dot_83) + (heatable Mug_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_01_dot_76) + (heatable Plate_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19) + (coolable 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Spoon_bar__minus_00_dot_76_bar__plus_00_dot_69_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 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 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_95_bar__plus_01_dot_65_bar__minus_01_dot_48 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle SaltShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_29 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77) + (inReceptacle Vase_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_56 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77) + (inReceptacle PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_11_bar__plus_00_dot_12 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01) + (inReceptacle Vase_bar__minus_00_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_12 Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11 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_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Potato_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_03 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 Fork_bar__minus_00_dot_21_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) + (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 Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle ButterKnife_bar__minus_00_dot_85_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 Fork_bar__plus_00_dot_01_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 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Knife_bar__minus_01_dot_26_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 Knife_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_01_dot_64 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 Fork_bar__plus_00_dot_97_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 Vase_bar__plus_01_dot_87_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_97_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 Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_47 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_06_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle DishSponge_bar__plus_02_dot_59_bar__plus_00_dot_88_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Mug_bar__plus_01_dot_88_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 Egg_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Bowl_bar__plus_02_dot_49_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 Plate_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) + (inReceptacle PaperTowelRoll_bar__plus_03_dot_01_bar__plus_00_dot_66_bar__plus_00_dot_04 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacleObject Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_19 Pot_bar__minus_01_dot_09_bar__plus_00_dot_90_bar__plus_00_dot_24) + (inReceptacle Bread_bar__plus_01_dot_95_bar__plus_00_dot_90_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Potato_bar__plus_02_dot_06_bar__plus_00_dot_85_bar__minus_00_dot_83 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 Apple_bar__plus_01_dot_78_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) + 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+ } + }, + { + "objectName": "Fork_66b6c857", + "position": { + "x": -0.205553234, + "y": 0.914048553, + "z": 0.1888 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_80376f38", + "position": { + "x": -0.119899988, + "y": 0.6968006, + "z": 0.222506255 + }, + "rotation": { + "x": -7.0167104e-15, + "y": 270.0, + "z": 7.01670955e-15 + } + }, + { + "objectName": "Knife_84756f6d", + "position": { + "x": -0.822229, + "y": 1.15502787, + "z": 0.5739 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_84756f6d", + "position": { + "x": -0.993096, + "y": 0.9348276, + "z": -1.63815558 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_99ef625f", + "position": { + "x": 1.95013893, + "y": 1.65241063, + "z": -1.47592187 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 0.969692647, + "y": 0.9063, + "z": -1.760051 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_14c38bc8", + "position": { + "x": -1.0561, + "y": 0.956400037, + "z": -0.672 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Knife_84756f6d", + "position": { + "x": -1.25914133, + "y": 0.9348276, + "z": -1.84518552 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4de763d6", + "position": { + "x": 2.487367, + "y": 0.549173832, + "z": 0.142101482 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Fork_66b6c857", + "position": { + "x": 0.00897419453, + "y": 0.914048553, + "z": 0.294503123 + }, + "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": 0.0713647, + "y": 1.1684401, + "z": 0.5739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_3526507b", + "position": { + "x": 1.78154087, + "y": 0.865727365, + "z": -0.830601335 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Kettle_7c4fce22", + "position": { + "x": -1.0561, + "y": 0.956400037, + "z": -1.127 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_777c51a0", + "position": { + "x": -1.312, + "y": 1.66297829, + "z": -0.5583058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_8a9da01b", + "position": { + "x": -0.420080632, + "y": 0.9439854, + "z": 0.0302453339 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_b40d1b1e", + "position": { + "x": -1.089, + "y": 0.9, + "z": 0.235 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_0d0ef808", + "position": { + "x": 1.9458034, + "y": 0.8990988, + "z": -0.365082026 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Plate_c0097cec", + "position": { + "x": 2.79846716, + "y": 0.5505007, + "z": 0.19387342 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Spatula_ef52a4ea", + "position": { + "x": -0.691673338, + "y": 0.7070381, + "z": -1.80263734 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_e7f3845e", + "position": { + "x": 3.00586653, + "y": 0.656344056, + "z": 0.0385510474 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Vase_f4e7dd3c", + "position": { + "x": -0.26475, + "y": 0.12259239, + "z": 0.121676773 + }, + "rotation": { + "x": 7.01670955e-15, + "y": 180.0, + "z": 7.01670955e-15 + } + }, + { + "objectName": "Egg_c00db6cc", + "position": { + "x": 1.84610176, + "y": 1.04912663, + "z": -1.2452637 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_99ef625f", + "position": { + "x": 1.924, + "y": 0.06322349, + "z": 0.166980162 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_52c85e6d", + "position": { + "x": -1.23264861, + "y": 1.657125, + "z": -0.2850828 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_9396b7e6", + "position": { + "x": 2.000557, + "y": 1.5042938, + "z": -0.551290035 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b0cc376f", + "position": { + "x": -0.0491249859, + "y": 0.112527966, + "z": 0.121676773 + }, + "rotation": { + "x": 7.01670955e-15, + "y": 180.0, + "z": 7.01670955e-15 + } + }, + { + "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": 2.5935545, + "y": 0.8793953, + "z": 0.141401052 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Vase_3478a6e4", + "position": { + "x": 1.86887825, + "y": 0.9089989, + "z": -1.760051 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_80376f38", + "position": { + "x": -0.7598201, + "y": 0.6931676, + "z": -1.84681869 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": -1.32211292, + "y": 0.960860431, + "z": -1.46934056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 1.8785435, + "y": 1.01045275, + "z": -1.35028625 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": 1.194489, + "y": 0.918364, + "z": -1.84470069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 147113925, + "scene_num": 5 + }, + "task_id": "trial_T20190908_075025_456952", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_32N49TQG3JZ1DHRAJ4R5TQZSH06VAF", + "high_descs": [ + "Turn around and walk across the room, then turn left to face the counter. ", + "Take the butter knife off of the counter. ", + "Turn left and walk across the room, then turn right and walk to the shelves. ", + "Place the knife on the black plate on the second shelf. ", + "Pick up the plate with the knife on it. ", + "Turn right and walk to the counter, then turn left and take two steps, then turn right and take one step, then turn left and walk across the room. ", + "Place the plate and the knife in the sink. " + ], + "task_desc": "To put the dishes in the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3YMU66OBIQPX579T0F2BABJM7GYGHC", + "high_descs": [ + "Turn around and hang a left at the wall to face the counter.", + "Pick up the silver knife to the left of the knife with the yellow handle on the counter.", + "Turn left and hang a right at the door to face the wooden shelves.", + "Put the knife on top of the black plate on the middle shelf.", + "Pick up the plate with the knife on it from the shelf.", + "Turn right, hang a left just before the black stools and walk to the sink on your left across the room.", + "Put the plate with the knife in the sink." + ], + "task_desc": "Place a plate and a knife in a sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3II4UPYCOMO76GY5HFOXD48QLB4DQL", + "high_descs": [ + "turn around and move across the room to the counter with the two stools on the left", + "face the counter and pick up the silver butter knife off of the counter", + "turn to the left and move forward across the room to the shelf on the right, turn to face the shelf", + "put the knife on the plate that is in the middle of the shelf", + "pick up the plate with the knife on it", + "turn to the right and move forward and turn left at the counter and move towards the sink", + "put the plate with the knife still on it in to the sink" + ], + "task_desc": "put a plate with a knife on it in to 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-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075056_656173/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075056_656173/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..aaf96449a71107390f9875f31c22a4668468ce84 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075056_656173/initial_state.pddl @@ -0,0 +1,1275 @@ + +(define (problem plan_trial_T20190908_075056_656173) +(: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_84_bar__plus_00_dot_87_bar__minus_00_dot_83 - object + Apple_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_20 - object + Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_08 - object + Bowl_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_60 - object + Bowl_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_35 - object + Bread_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__minus_00_dot_18 - object + ButterKnife_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_55 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + 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CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SaltShaker_bar__minus_00_dot_54_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 DishSponge_bar__minus_00_dot_15_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) + (inReceptacle Plate_bar__minus_00_dot_60_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) + (inReceptacle Kettle_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) + (inReceptacle Tomato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spoon_bar__minus_00_dot_15_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 PaperTowelRoll_bar__minus_01_dot_05_bar__plus_01_dot_24_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spoon_bar__minus_00_dot_32_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 PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_69_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_22 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Statue_bar__plus_01_dot_42_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 ButterKnife_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 Tomato_bar__minus_01_dot_38_bar__plus_00_dot_96_bar__minus_01_dot_93 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 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 Knife_bar__plus_00_dot_97_bar__plus_00_dot_93_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Potato_bar__minus_00_dot_66_bar__plus_00_dot_94_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Potato_bar__minus_01_dot_40_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 SoapBottle_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_20 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle DishSponge_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle SoapBottle_bar__plus_03_dot_00_bar__plus_00_dot_88_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_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 Egg_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_40 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Mug_bar__plus_01_dot_78_bar__plus_01_dot_01_bar__minus_01_dot_40 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Statue_bar__plus_02_dot_80_bar__plus_00_dot_56_bar__plus_00_dot_04 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 Egg_bar__plus_01_dot_84_bar__plus_00_dot_85_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle 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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 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"rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Vase_3478a6e4", + "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": -0.319118738, + "y": 0.6968006, + "z": 0.222506255 + }, + "rotation": { + "x": -7.0167104e-15, + "y": 270.0, + "z": 7.01670955e-15 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": 1.83629346, + "y": 1.47734952, + "z": -0.6443927 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 0.5019079, + "y": 0.9558, + "z": -1.90079522 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": 2.79846621, + "y": 0.559122562, + "z": 0.03855218 + }, + "rotation": { + "x": -1.93377727e-11, + "y": 0.000324434, + "z": 6.83018925e-06 + } + } + ], + "object_toggles": [], + "random_seed": 3218599325, + "scene_num": 5 + }, + "task_id": "trial_T20190908_075056_656173", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A98E8M4QLI9RS_34QN5IT0T2871SXFJ9J2C637XGC80F", + "high_descs": [ + "turn left and then turn right immediately passing the counter on the right, move forward towards the toaster on the counter and turn right moving to the counter to the left of the stove", + "pick up the knife off of the counter", + "turn to the right and move forward towards the counter with the plate on it", + "put the knife on to the plate", + "pick up the plate with the knife on it", + "turn around and move to the sink", + "put the plate with the knife on it in to the sink" + ], + "task_desc": "put a plate and knife stack in to the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_37W3JXSD69PFOOPIPKAHIE0DR0UWYJ", + "high_descs": [ + "Turn left, hang a right at the door, take a right just past the fridge and walk to the stove ahead.", + "Pick up the silver knife to the left of the stove on the counter.", + "Turn right and walk to the counter with the black plate.", + "Put the knife on the black plate on the counter.", + "Pick up the plate with the knife from the counter.", + "Turn around and walk to the sink ahead.", + "Put the plate with the knife inside the sink." + ], + "task_desc": "Place a plate with a knife in a sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3TPWUS5F8CI2LLODTSSSLN8UOC8WC7", + "high_descs": [ + "Turn to the left and right, then right again to find the stove.", + "Pick up the knife from the counter, to the left of the stove.", + "Carry the knife and turn turn to the right to the other counter.", + "Place the knife in a pan in the middle of the counter.", + "Pick up the pan from the counter.", + "Carry the pan and turn around to find the sink.", + "Place the pan and knife in the sink." + ], + "task_desc": "Move a pan and knife 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_with_movable_recep-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075239_767503/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075239_767503/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d884421bc81bfd19b2fc6abf18644c6fd2af522f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Plate-SinkBasin-5/trial_T20190908_075239_767503/initial_state.pddl @@ -0,0 +1,1292 @@ + +(define (problem plan_trial_T20190908_075239_767503) +(: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__plus_01_dot_95_bar__plus_00_dot_87_bar__minus_00_dot_27 - object + Bowl_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_62 - object + Bowl_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_09 - object + Bowl_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_76 - 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_01_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + DishSponge_bar__plus_00_dot_33_bar__plus_01_dot_66_bar__minus_02_dot_20 - object + Egg_bar__plus_01_dot_85_bar__plus_00_dot_10_bar__plus_00_dot_20 - object + Egg_bar__plus_02_dot_06_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_01_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + Knife_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__plus_00_dot_71 - object + Knife_bar__minus_00_dot_38_bar__plus_01_dot_16_bar__plus_00_dot_53 - object + Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_03 - object + Ladle_bar__minus_00_dot_54_bar__plus_00_dot_73_bar__plus_00_dot_19 - object + Ladle_bar__minus_01_dot_27_bar__plus_01_dot_70_bar__minus_00_dot_63 - object + Lettuce_bar__plus_01_dot_89_bar__plus_00_dot_89_bar__minus_00_dot_55 - object + Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_55 - 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_95_bar__plus_01_dot_65_bar__minus_01_dot_67 - object + Mug_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_76 - 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__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_20 - object + PepperShaker_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_14 - object + Plate_bar__plus_00_dot_94_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + Plate_bar__plus_01_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20 - object + Potato_bar__plus_01_dot_84_bar__plus_01_dot_46_bar__minus_00_dot_37 - object + Potato_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_10 - object + Pot_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_37 - object + Pot_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_47 - object + SaltShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_19 - object + SaltShaker_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_35 - object + SoapBottle_bar__minus_01_dot_24_bar__plus_01_dot_66_bar__minus_01_dot_60 - object + Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + Spoon_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Spoon_bar__minus_00_dot_66_bar__plus_00_dot_69_bar__minus_01_dot_89 - object + Spoon_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_89 - object + Statue_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_14 - object + Statue_bar__minus_01_dot_14_bar__plus_00_dot_92_bar__minus_02_dot_18 - 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_00_dot_87_bar__minus_00_dot_83 - object + Tomato_bar__plus_01_dot_92_bar__plus_00_dot_11_bar__plus_00_dot_11 - object + Tomato_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_57 - object + Vase_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33 - object + 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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 - 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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_1_bar__minus_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 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StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_18_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_01_dot_98 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 ShelfType) + (receptacleType CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 DrawerType) + (objectType 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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 Vase_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 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 Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (inReceptacle Mug_bar__plus_01_dot_95_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__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 Kettle_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_16 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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 Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle DishSponge_bar__plus_00_dot_01_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 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 Bowl_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_68_bar__plus_00_dot_69_bar__plus_00_dot_19 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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 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) + (inReceptacle Plate_bar__plus_01_dot_42_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 Pot_bar__minus_01_dot_32_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 Potato_bar__minus_01_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_14_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 Fork_bar__minus_01_dot_02_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 SoapBottle_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 Statue_bar__minus_01_dot_14_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 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 Spoon_bar__minus_00_dot_99_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 SaltShaker_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 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+ "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_3IAEQB9FMH1CQDURTON35TQC9DRDWX", + "high_descs": [ + "Move forward to the counter on the left side of the stove", + "Pick up the knife on the counter", + "Turn left head move forward turn right on the counter beside the toaster ", + "Put the knife on the plate beside the toaster", + "Pick up the plate with knife on the counter", + "Turn right then head to the sink on your left", + "Put the plate with knife in the sink" + ], + "task_desc": "Put the plate with knife in the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3SUWZRL0M1UJO4TLY1LJDH9KLM26EJ", + "high_descs": [ + "Face the counter on the left of the stove in front of you.", + "Pick up the knife from the counter in front of you.", + "Turn around and face the toaster to your left.", + "Place the knife on the plate to the left of the toaster in front of you.", + "Take the plate with the knife from the counter in front of you.", + "Turn right then face the sink to your left.", + "Place the plate with the knife inside the sink in front of you." + ], + "task_desc": "Place a bowl with a knife in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3VAR3R6G1SIS49PYLULD27ZPVKG8OV", + "high_descs": [ + "Move a step forward to the stove.", + "Pick up the knife from the counter, left of the stove. ", + "Take the knife and turn around, then face the counter on the right.", + "Place the knife in the plate on the left side of the counter.", + "Pick up the plate from the left side of the counter.", + "Carry the plate and take a few steps to the right to find the sink.", + "Place the plate and knife in the sink." + ], + "task_desc": "Move a plate and knife 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_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041045_040165/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041045_040165/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c6e83d9ca4e87c86e65000f5d8f1025fffe44d3d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041045_040165/initial_state.pddl @@ -0,0 +1,1060 @@ + +(define (problem plan_trial_T20190908_041045_040165) +(: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_16_bar__plus_01_dot_00_bar__plus_00_dot_53 - object + Apple_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_00_dot_39 - object + Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + Bowl_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Bowl_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 - object + ButterKnife_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_59 - object + Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_01_dot_01 - object + DishSponge_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_24 - object + DishSponge_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_75 - object + DishSponge_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_20 - object + Egg_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_53 - object + Egg_bar__minus_01_dot_32_bar__plus_01_dot_07_bar__minus_01_dot_64 - object + Egg_bar__minus_01_dot_67_bar__plus_01_dot_24_bar__minus_01_dot_01 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_75 - object + Knife_bar__plus_01_dot_74_bar__plus_00_dot_94_bar__minus_01_dot_45 - object + Knife_bar__minus_00_dot_06_bar__plus_00_dot_79_bar__minus_01_dot_98 - object + Ladle_bar__plus_01_dot_47_bar__plus_01_dot_70_bar__minus_02_dot_16 - object + Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_00_dot_99 - object + Lettuce_bar__minus_01_dot_50_bar__plus_01_dot_26_bar__minus_00_dot_70 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_98 - object + Mug_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_50 - object + Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + PepperShaker_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + PepperShaker_bar__plus_01_dot_99_bar__plus_01_dot_65_bar__minus_01_dot_24 - object + Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27 - object + Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_50 - object + Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09 - object + Potato_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__minus_02_dot_12 - object + Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85 - object + Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50 - object + SaltShaker_bar__plus_01_dot_18_bar__plus_00_dot_12_bar__minus_02_dot_08 - object + SaltShaker_bar__plus_01_dot_77_bar__plus_00_dot_88_bar__plus_02_dot_48 - object + SaltShaker_bar__plus_01_dot_88_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + SoapBottle_bar__plus_02_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_80 - object + SoapBottle_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_13 - object + Spatula_bar__plus_00_dot_01_bar__plus_00_dot_78_bar__minus_02_dot_12 - object + Spoon_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_01_dot_98 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 - object + Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_68 - object + Tomato_bar__minus_01_dot_00_bar__plus_00_dot_97_bar__minus_02_dot_22 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_01_dot_36_bar__plus_00_dot_88_bar__plus_02_dot_51 - object + WineBottle_bar__plus_01_dot_46_bar__plus_00_dot_88_bar__plus_02_dot_43 - object + WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_04 - object + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle + CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle + CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 - receptacle + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_9_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar__minus_2_bar_2_bar_1_bar_60 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 FridgeType) + (receptacleType Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 ShelfType) + (receptacleType DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 DiningTableType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType 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(openable Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00) + (openable Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (openable Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00) + (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (openable Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + + (atLocation agent1 loc_bar_1_bar__minus_3_bar_1_bar_30) + + (cleanable DishSponge_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_20) + (cleanable Bowl_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_43) + (cleanable Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_50) + (cleanable Lettuce_bar__minus_01_dot_50_bar__plus_01_dot_26_bar__minus_00_dot_70) + (cleanable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (cleanable Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36) + (cleanable Knife_bar__minus_00_dot_06_bar__plus_00_dot_79_bar__minus_01_dot_98) + (cleanable DishSponge_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_24) + (cleanable DishSponge_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_75) + (cleanable Spoon_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_08) + (cleanable Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_01_dot_98) + (cleanable Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_68) + (cleanable Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_01_dot_01) + (cleanable Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09) + (cleanable Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31) + (cleanable Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_99) + (cleanable Egg_bar__minus_01_dot_67_bar__plus_01_dot_24_bar__minus_01_dot_01) + (cleanable Bowl_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_10) + (cleanable Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76) + (cleanable Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53) + (cleanable Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50) + (cleanable Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27) + (cleanable Egg_bar__minus_01_dot_32_bar__plus_01_dot_07_bar__minus_01_dot_64) + (cleanable Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_75) + (cleanable Tomato_bar__minus_01_dot_00_bar__plus_00_dot_97_bar__minus_02_dot_22) + (cleanable Fork_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53) + (cleanable Knife_bar__plus_01_dot_74_bar__plus_00_dot_94_bar__minus_01_dot_45) + (cleanable ButterKnife_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_76) + (cleanable Spatula_bar__plus_00_dot_01_bar__plus_00_dot_78_bar__minus_02_dot_12) + (cleanable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_00_dot_99) + (cleanable Apple_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_00_dot_39) + (cleanable Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_98) + (cleanable Cup_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_59) + (cleanable Egg_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_53) + (cleanable Mug_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_50) + (cleanable Potato_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__minus_02_dot_12) + (cleanable Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22) + (cleanable Ladle_bar__plus_01_dot_47_bar__plus_01_dot_70_bar__minus_02_dot_16) + + (heatable Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_50) + (heatable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (heatable Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_68) + (heatable Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_01_dot_01) + (heatable Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09) + (heatable Egg_bar__minus_01_dot_67_bar__plus_01_dot_24_bar__minus_01_dot_01) + (heatable Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76) + (heatable Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53) + (heatable Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27) + (heatable Egg_bar__minus_01_dot_32_bar__plus_01_dot_07_bar__minus_01_dot_64) + (heatable Tomato_bar__minus_01_dot_00_bar__plus_00_dot_97_bar__minus_02_dot_22) + (heatable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (heatable Apple_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_00_dot_39) + (heatable Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_98) + (heatable Cup_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_59) + (heatable Egg_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_53) + (heatable Mug_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_50) + (heatable Potato_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__minus_02_dot_12) + (coolable Bowl_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_43) + (coolable Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_50) + (coolable Lettuce_bar__minus_01_dot_50_bar__plus_01_dot_26_bar__minus_00_dot_70) + (coolable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (coolable Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36) + (coolable Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_68) + (coolable Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_01_dot_01) + (coolable Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09) + (coolable Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31) + (coolable Egg_bar__minus_01_dot_67_bar__plus_01_dot_24_bar__minus_01_dot_01) + (coolable Bowl_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_10) + (coolable Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76) + (coolable Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53) + (coolable Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50) + (coolable Plate_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27) + (coolable Egg_bar__minus_01_dot_32_bar__plus_01_dot_07_bar__minus_01_dot_64) + (coolable Tomato_bar__minus_01_dot_00_bar__plus_00_dot_97_bar__minus_02_dot_22) + (coolable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (coolable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_00_dot_99) + (coolable WineBottle_bar__plus_01_dot_46_bar__plus_00_dot_88_bar__plus_02_dot_43) + (coolable WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_04) + (coolable Apple_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_00_dot_39) + (coolable Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_98) + (coolable WineBottle_bar__plus_01_dot_36_bar__plus_00_dot_88_bar__plus_02_dot_51) + (coolable Cup_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_59) + (coolable Egg_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_53) + (coolable Mug_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_50) + (coolable Potato_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__minus_02_dot_12) + (coolable Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22) + + + + + + (sliceable Lettuce_bar__minus_01_dot_50_bar__plus_01_dot_26_bar__minus_00_dot_70) + (sliceable Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85) + (sliceable Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_68) + (sliceable Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09) + (sliceable Egg_bar__minus_01_dot_67_bar__plus_01_dot_24_bar__minus_01_dot_01) + (sliceable Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53) + (sliceable Egg_bar__minus_01_dot_32_bar__plus_01_dot_07_bar__minus_01_dot_64) + (sliceable Tomato_bar__minus_01_dot_00_bar__plus_00_dot_97_bar__minus_02_dot_22) + (sliceable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (sliceable Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_00_dot_99) + (sliceable Apple_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_00_dot_39) + (sliceable Egg_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_53) + (sliceable Potato_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__minus_02_dot_12) + + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle DishSponge_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_20 Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Ladle_bar__plus_01_dot_47_bar__plus_01_dot_70_bar__minus_02_dot_16 Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle DishSponge_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_24 Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle PepperShaker_bar__plus_01_dot_99_bar__plus_01_dot_65_bar__minus_01_dot_24 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (inReceptacle SaltShaker_bar__plus_01_dot_18_bar__plus_00_dot_12_bar__minus_02_dot_08 Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69) + (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 Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_01_dot_50 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36) + (inReceptacle Spoon_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle ButterKnife_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle 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DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle DishSponge_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_75 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SoapBottle_bar__plus_02_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_80 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_75 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle PepperShaker_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_10 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loc_bar_0_bar__minus_4_bar_3_bar_60) + (objectAtLocation WineBottle_bar__plus_01_dot_36_bar__plus_00_dot_88_bar__plus_02_dot_51 loc_bar_6_bar_8_bar_0_bar_60) + (objectAtLocation Lettuce_bar__plus_00_dot_18_bar__plus_01_dot_01_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Fork_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_13 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Bowl_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_43 loc_bar_5_bar_5_bar_0_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_25_bar__plus_01_dot_04_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_5_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53 loc_bar__minus_2_bar_2_bar_1_bar_60) + (objectAtLocation SaltShaker_bar__plus_01_dot_77_bar__plus_00_dot_88_bar__plus_02_dot_48 loc_bar_6_bar_8_bar_0_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_10 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_45 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_75 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation WineBottle_bar__plus_01_dot_46_bar__plus_00_dot_88_bar__plus_02_dot_43 loc_bar_6_bar_8_bar_0_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_69_bar__plus_00_dot_91_bar__minus_01_dot_75 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__minus_02_dot_12 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_00_dot_39 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_02_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_80 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation 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(objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 loc_bar_4_bar__minus_3_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar_30) + (objectAtLocation Tomato_bar__minus_01_dot_00_bar__plus_00_dot_97_bar__minus_02_dot_22 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 loc_bar__minus_4_bar_5_bar_1_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_24 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation Egg_bar__minus_01_dot_32_bar__plus_01_dot_07_bar__minus_01_dot_64 loc_bar__minus_1_bar__minus_5_bar_3_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_14_bar__plus_00_dot_77_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_06_bar__plus_00_dot_79_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CabinetType) + (exists (?o - object) + (and + (objectType ?o DishSpongeType) + (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-DishSponge-Bowl-Cabinet-20/trial_T20190908_041045_040165/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041045_040165/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb7fffdbffef1f8766ecb66ab048e49b62d41e1 --- /dev/null +++ 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"high_descs": [ + "Walk towards the oven, then turn right and walk up to where the toaster is on the counter.", + "Pick up the sponge off of the counter.", + "Turn around and take a step forward, then turn right and walk up to the counter.", + "Put the sponge in the glass bowl on the counter.", + "Pick up the glass bowl with the sponge in it.", + "Turn left and take a step forward, then turn left and take another step, turn left to face the dishwasher.", + "Open the cabinet door to the left of the dishwasher and put the glass bowl with the sponge in it in the cabinet, then close the door." + ], + "task_desc": "Put a glass bowl with a sponge in it in the cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3NPI0JQDARMTNTTN3S9NI302JSCTPH", + "high_descs": [ + "Turn right, move to the sponge on the counter.", + "Pick up the sponge on the counter. ", + "Turn left, bring the sponge to the bowl on the counter.", + "Put the sponge in the bowl on the counter.", + "Pick up the bowl with sponge from on the counter. ", + "Bring the the bowl to the lower left cabinet under the toaster.", + "Put the bowl in the lower left cabinet." + ], + "task_desc": "Put a bowl with 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_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041108_084755/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041108_084755/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f0752190fca780179fc15296e7ee1ed0aa438949 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041108_084755/initial_state.pddl @@ -0,0 +1,1040 @@ + +(define (problem plan_trial_T20190908_041108_084755) +(: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_07_bar__plus_01_dot_00_bar__plus_01_dot_22 - object + Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_01_dot_45 - object + Apple_bar__minus_00_dot_62_bar__plus_00_dot_98_bar__minus_02_dot_20 - object + Bowl_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_07 - object + Bowl_bar__minus_01_dot_38_bar__plus_00_dot_86_bar__minus_00_dot_60 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_31 - object + ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + DishSponge_bar__plus_01_dot_26_bar__plus_00_dot_88_bar__plus_02_dot_51 - object + DishSponge_bar__plus_01_dot_53_bar__plus_01_dot_66_bar__minus_02_dot_24 - object + DishSponge_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_33 - object + DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Egg_bar__minus_00_dot_28_bar__plus_00_dot_82_bar__minus_02_dot_07 - object + Egg_bar__minus_00_dot_82_bar__plus_00_dot_97_bar__minus_02_dot_13 - object + Egg_bar__minus_01_dot_57_bar__plus_01_dot_56_bar__minus_00_dot_39 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + Fork_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + Fork_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Knife_bar__plus_00_dot_69_bar__plus_00_dot_94_bar__minus_02_dot_00 - object + Knife_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__minus_01_dot_76 - object + Ladle_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31 - object + Lettuce_bar__plus_00_dot_41_bar__plus_01_dot_01_bar__plus_00_dot_31 - object + Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_50 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 - object + Mug_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Mug_bar__plus_01_dot_83_bar__plus_01_dot_65_bar__minus_01_dot_48 - object + Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + Pan_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_40 - object + PepperShaker_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_02_dot_22 - object + PepperShaker_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_12 - object + Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_43 - object + Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_01_dot_92 - object + Plate_bar__minus_01_dot_44_bar__plus_01_dot_19_bar__minus_00_dot_70 - object + Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + SaltShaker_bar__plus_00_dot_38_bar__plus_01_dot_66_bar__minus_02_dot_13 - object + SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_00_dot_99 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + Spatula_bar__plus_00_dot_01_bar__plus_00_dot_78_bar__minus_01_dot_94 - object + Spoon_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Spoon_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_92 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 - object + Tomato_bar__plus_00_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_08 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + WineBottle_bar__plus_01_dot_77_bar__plus_00_dot_88_bar__plus_02_dot_54 - object + WineBottle_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle + CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle + CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 - receptacle + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_9_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 FridgeType) + (receptacleType Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 ShelfType) + (receptacleType DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 DiningTableType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType 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Mug_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_10) + (cleanable Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99) + (cleanable Ladle_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31) + (cleanable DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25) + (cleanable Fork_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_45) + (cleanable Knife_bar__minus_00_dot_11_bar__plus_00_dot_94_bar__minus_01_dot_76) + (cleanable Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_50) + (cleanable Bowl_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_07) + (cleanable DishSponge_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_33) + (cleanable Egg_bar__minus_00_dot_82_bar__plus_00_dot_97_bar__minus_02_dot_13) + (cleanable Fork_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_45) + (cleanable Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_43) + (cleanable Tomato_bar__plus_00_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_08) + (cleanable Pan_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_40) + (cleanable Lettuce_bar__plus_00_dot_41_bar__plus_01_dot_01_bar__plus_00_dot_31) + (cleanable Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22) + + (heatable Egg_bar__minus_00_dot_28_bar__plus_00_dot_82_bar__minus_02_dot_07) + (heatable Plate_bar__minus_01_dot_44_bar__plus_01_dot_19_bar__minus_00_dot_70) + (heatable Egg_bar__minus_01_dot_57_bar__plus_01_dot_56_bar__minus_00_dot_39) + (heatable Mug_bar__plus_01_dot_83_bar__plus_01_dot_65_bar__minus_01_dot_48) + (heatable Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_01_dot_45) + (heatable Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_01_dot_92) + (heatable Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93) + (heatable Apple_bar__minus_00_dot_62_bar__plus_00_dot_98_bar__minus_02_dot_20) + (heatable Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09) + (heatable Apple_bar__plus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_22) + (heatable Mug_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_10) + (heatable Bread_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_31) + (heatable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76) + (heatable Egg_bar__minus_00_dot_82_bar__plus_00_dot_97_bar__minus_02_dot_13) + (heatable Plate_bar__plus_01_dot_67_bar__plus_00_dot_56_bar__plus_02_dot_43) + (heatable Tomato_bar__plus_00_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_08) + (heatable Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22) + (coolable Egg_bar__minus_00_dot_28_bar__plus_00_dot_82_bar__minus_02_dot_07) + (coolable Plate_bar__minus_01_dot_44_bar__plus_01_dot_19_bar__minus_00_dot_70) + (coolable Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (coolable Egg_bar__minus_01_dot_57_bar__plus_01_dot_56_bar__minus_00_dot_39) + (coolable Mug_bar__plus_01_dot_83_bar__plus_01_dot_65_bar__minus_01_dot_48) + (coolable Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_01_dot_45) + (coolable WineBottle_bar__plus_01_dot_77_bar__plus_00_dot_88_bar__plus_02_dot_54) + (coolable Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36) + (coolable Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_01_dot_92) + (coolable WineBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_53) + (coolable Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93) + (coolable Apple_bar__minus_00_dot_62_bar__plus_00_dot_98_bar__minus_02_dot_20) + (coolable Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09) + (coolable Apple_bar__plus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_22) + (coolable Bowl_bar__minus_01_dot_38_bar__plus_00_dot_86_bar__minus_00_dot_60) + (coolable 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Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle DishSponge_bar__plus_01_dot_53_bar__plus_01_dot_66_bar__minus_02_dot_24 Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle SaltShaker_bar__plus_00_dot_38_bar__plus_01_dot_66_bar__minus_02_dot_13 Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Mug_bar__plus_01_dot_83_bar__plus_01_dot_65_bar__minus_01_dot_48 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Pan_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_40 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36) + (inReceptacle Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Lettuce_bar__plus_00_dot_41_bar__plus_01_dot_01_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_92_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle SoapBottle_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Tomato_bar__plus_00_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_08 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CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle DishSponge_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_33 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Apple_bar__minus_00_dot_62_bar__plus_00_dot_98_bar__minus_02_dot_20 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Fork_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_45 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Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CabinetType) + (exists (?o - object) + (and + (objectType ?o DishSpongeType) + (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-DishSponge-Bowl-Cabinet-20/trial_T20190908_041108_084755/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041108_084755/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..62239b92c052ca46bd0f1a99e965da82e99b2b43 --- /dev/null +++ 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"ButterKnife_8db17fc4", + "position": { + "x": 1.91925633, + "y": 0.913542032, + "z": -1.329551 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": 0.294566572, + "y": 0.9824485, + "z": 0.076635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_c9c37476", + "position": { + "x": 1.55736017, + "y": 0.9130642, + "z": -1.329551 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": -1.57226658, + "y": 1.558238, + "z": -0.392489046 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": 0.294566572, + "y": 0.9280619, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": -0.11366187, + "y": 0.936580539, + "z": -1.76233852 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 1.73830819, + "y": 0.908499956, + "z": -1.09559679 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1818589124, + "scene_num": 20 + }, + "task_id": "trial_T20190908_041108_084755", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_37ZHEEHM6Z3ZI6RTSR9F045JP0G73W", + "high_descs": [ + "Turn around and take a step to your right then walk to the toaster that's in front of you.", + "Get the sponge out of the cupboard above the coffee maker then close the door.", + "Turn around and walk to the fridge and stand in front of it facing it.", + "Put the sponge in the bowl in the fridge.", + "Pick up the bowl with the sponge in it and close the fridge.", + "Take a step backwards then one to your left.", + "Put the bowl in the cupboard below the microwave then close the door." + ], + "task_desc": "Put a bowl with a sponge in it below the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3IFS6Q0HJL00R7T41XEDZ134VWXIS1", + "high_descs": [ + "Turn around and face the kitchen cabinets", + "Open the kitchen cabinet on the left and pick up a sponge", + "Turn around and then turn to your left to face the fridge", + "Open the fridge and put the sponge in the bowl", + "Pick up the bowl with the sponge in it", + "Take a step back from the fridge", + "Open the bottom kitchen cabinet and put the bowl in it" + ], + "task_desc": "Put a sponge in a bowl and put it in the kitchen cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3RANCT1ZVIY6JC72KSHWSFHFL3MBUP", + "high_descs": [ + "Turn around and walk across the room to the counter. ", + "Look up and open the cupboard on the left to take out the green sponge. ", + "Look down then turn around and take one step, then turn left and walk across the room to the fridge. ", + "Open the fridge and put the sponge in the glass bowl. ", + "Take the glass bowl with the sponge in it out of the fridge. ", + "Turn around and take two steps, then turn right and right again and look down. ", + "Open the cabinet to the left of the fridge and put the bowl and sponge inside. " + ], + "task_desc": "To put away the dish and sponge. ", + "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-Bowl-Cabinet-20/trial_T20190908_041239_666587/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041239_666587/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cca2ace326f057d06cdc741955bf36a242744346 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Bowl-Cabinet-20/trial_T20190908_041239_666587/initial_state.pddl @@ -0,0 +1,1007 @@ + +(define (problem plan_trial_T20190908_041239_666587) +(: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_28_bar__plus_01_dot_09_bar__minus_01_dot_85 - object + Bowl_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53 - object + Bowl_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_70 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_31 - object + ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_75 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + Cup_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_00_dot_50 - object + DishSponge_bar__plus_01_dot_18_bar__plus_00_dot_12_bar__minus_01_dot_86 - object + DishSponge_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_59 - object + Egg_bar__plus_01_dot_56_bar__plus_00_dot_97_bar__minus_01_dot_33 - object + Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Fork_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_00 - object + Knife_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_73 - object + Knife_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_45 - object + Ladle_bar__plus_00_dot_44_bar__plus_01_dot_70_bar__minus_02_dot_16 - object + Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_67 - object + Lettuce_bar__plus_00_dot_41_bar__plus_01_dot_01_bar__plus_01_dot_45 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_46 - object + Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + PepperShaker_bar__plus_00_dot_03_bar__plus_02_dot_15_bar__minus_02_dot_12 - object + PepperShaker_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + PepperShaker_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_61 - object + Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Plate_bar__plus_01_dot_77_bar__plus_00_dot_56_bar__plus_02_dot_48 - object + Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25 - object + Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_22 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + SaltShaker_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + SaltShaker_bar__minus_00_dot_96_bar__plus_00_dot_91_bar__minus_02_dot_22 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_83_bar__plus_01_dot_66_bar__minus_01_dot_80 - object + SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + SoapBottle_bar__minus_00_dot_82_bar__plus_00_dot_91_bar__minus_02_dot_17 - object + Spatula_bar__plus_00_dot_24_bar__plus_00_dot_93_bar__minus_01_dot_74 - object + Spoon_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Spoon_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_92 - object + Spoon_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_07 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 - object + Tomato_bar__plus_01_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_21 - object + Tomato_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_02_dot_17 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_24 - object + WineBottle_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_17 - object + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle + CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle + CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 - receptacle + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_9_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + 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Bowl_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53) + (pickupable Tomato_bar__plus_01_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_21) + (pickupable Spatula_bar__plus_00_dot_24_bar__plus_00_dot_93_bar__minus_01_dot_74) + (pickupable Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25) + (pickupable PepperShaker_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_31) + (pickupable Ladle_bar__plus_00_dot_44_bar__plus_01_dot_70_bar__minus_02_dot_16) + (pickupable SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_53) + (pickupable Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99) + (pickupable DishSponge_bar__plus_01_dot_18_bar__plus_00_dot_12_bar__minus_01_dot_86) + (pickupable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_02_dot_17) + (pickupable Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_00_dot_50) + (pickupable SoapBottle_bar__plus_01_dot_83_bar__plus_01_dot_66_bar__minus_01_dot_80) + (pickupable Knife_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_45) + (pickupable Knife_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_73) + (pickupable Egg_bar__plus_01_dot_56_bar__plus_00_dot_97_bar__minus_01_dot_33) + (pickupable SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76) + (pickupable PepperShaker_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_61) + (pickupable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_31) + (pickupable Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76) + (pickupable Mug_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_46) + (pickupable WineBottle_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_17) + (pickupable DishSponge_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_59) + (pickupable WineBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_24) + (pickupable Plate_bar__plus_01_dot_77_bar__plus_00_dot_56_bar__plus_02_dot_48) + (pickupable Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_22) + (pickupable SaltShaker_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_45) + (pickupable Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08) + (isReceptacleObject Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (isReceptacleObject Cup_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_45) + (isReceptacleObject Bowl_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_70) + (isReceptacleObject Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (isReceptacleObject Bowl_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53) + (isReceptacleObject Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99) + (isReceptacleObject Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_00_dot_50) + (isReceptacleObject Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76) + (isReceptacleObject Mug_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_46) + (isReceptacleObject Plate_bar__plus_01_dot_77_bar__plus_00_dot_56_bar__plus_02_dot_48) + (isReceptacleObject Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08) + (openable Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69) + (openable Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00) + (openable Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (openable Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (openable Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (openable Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67) + (openable Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (openable Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68) + (openable Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00) + (openable Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (openable Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00) + (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (openable Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + + (atLocation agent1 loc_bar__minus_4_bar_6_bar_0_bar_30) + + (cleanable Apple_bar__minus_01_dot_28_bar__plus_01_dot_09_bar__minus_01_dot_85) + (cleanable Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22) + (cleanable Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (cleanable Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_67) + (cleanable Cup_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_45) + (cleanable Spoon_bar__minus_00_dot_21_bar__plus_00_dot_77_bar__minus_02_dot_07) + (cleanable Bowl_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_70) + (cleanable Spoon_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_92) + (cleanable Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_98) + (cleanable Spoon_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_01_dot_22) + (cleanable Fork_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_00) + (cleanable ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_75) + (cleanable Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (cleanable Lettuce_bar__plus_00_dot_41_bar__plus_01_dot_01_bar__plus_01_dot_45) + (cleanable Bowl_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53) + (cleanable Tomato_bar__plus_01_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_21) + (cleanable Spatula_bar__plus_00_dot_24_bar__plus_00_dot_93_bar__minus_01_dot_74) + (cleanable Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25) + (cleanable Ladle_bar__plus_00_dot_44_bar__plus_01_dot_70_bar__minus_02_dot_16) + (cleanable Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99) + (cleanable DishSponge_bar__plus_01_dot_18_bar__plus_00_dot_12_bar__minus_01_dot_86) + (cleanable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_02_dot_17) + (cleanable Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_00_dot_50) + (cleanable Knife_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_45) + (cleanable Knife_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_01_dot_73) + (cleanable Egg_bar__plus_01_dot_56_bar__plus_00_dot_97_bar__minus_01_dot_33) + (cleanable Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76) + (cleanable Mug_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_46) + (cleanable DishSponge_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_59) + (cleanable Plate_bar__plus_01_dot_77_bar__plus_00_dot_56_bar__plus_02_dot_48) + (cleanable Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_22) + (cleanable Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08) + + (heatable Apple_bar__minus_01_dot_28_bar__plus_01_dot_09_bar__minus_01_dot_85) + (heatable Cup_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_45) + (heatable Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_98) + (heatable Tomato_bar__plus_01_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_21) + (heatable Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25) + (heatable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_02_dot_17) + (heatable Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_00_dot_50) + (heatable Egg_bar__plus_01_dot_56_bar__plus_00_dot_97_bar__minus_01_dot_33) + (heatable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_31) + (heatable Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76) + (heatable Mug_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_46) + (heatable Plate_bar__plus_01_dot_77_bar__plus_00_dot_56_bar__plus_02_dot_48) + (heatable Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_22) + (heatable Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08) + (coolable Apple_bar__minus_01_dot_28_bar__plus_01_dot_09_bar__minus_01_dot_85) + (coolable Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (coolable Cup_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_45) + (coolable Bowl_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_70) + (coolable Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_98) + (coolable Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (coolable Lettuce_bar__plus_00_dot_41_bar__plus_01_dot_01_bar__plus_01_dot_45) + (coolable Bowl_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53) + (coolable Tomato_bar__plus_01_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_21) + (coolable Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25) + (coolable Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99) + (coolable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_02_dot_17) + (coolable Cup_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_00_dot_50) + (coolable Egg_bar__plus_01_dot_56_bar__plus_00_dot_97_bar__minus_01_dot_33) + (coolable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_31) + (coolable Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76) + (coolable Mug_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_46) + (coolable WineBottle_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_17) + (coolable WineBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_24) + (coolable Plate_bar__plus_01_dot_77_bar__plus_00_dot_56_bar__plus_02_dot_48) + (coolable Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_22) + (coolable Cup_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_08) + + + + + + (sliceable Apple_bar__minus_01_dot_28_bar__plus_01_dot_09_bar__minus_01_dot_85) + (sliceable Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_98) + (sliceable Lettuce_bar__plus_00_dot_41_bar__plus_01_dot_01_bar__plus_01_dot_45) + (sliceable Tomato_bar__plus_01_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_21) + (sliceable Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25) + (sliceable Tomato_bar__minus_00_dot_62_bar__plus_00_dot_97_bar__minus_02_dot_17) + (sliceable Egg_bar__plus_01_dot_56_bar__plus_00_dot_97_bar__minus_01_dot_33) + (sliceable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_31) + (sliceable Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_22) + + (inReceptacle Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle PepperShaker_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_61 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle PepperShaker_bar__plus_00_dot_03_bar__plus_02_dot_15_bar__minus_02_dot_12 Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00) + (inReceptacle WineBottle_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_24 Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Ladle_bar__plus_00_dot_44_bar__plus_01_dot_70_bar__minus_02_dot_16 Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle SoapBottle_bar__plus_01_dot_83_bar__plus_01_dot_66_bar__minus_01_dot_80 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle DishSponge_bar__plus_01_dot_18_bar__plus_00_dot_12_bar__minus_01_dot_86 Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle Mug_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_46 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Lettuce_bar__plus_00_dot_41_bar__plus_01_dot_01_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle PepperShaker_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle 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ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_75 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_82_bar__plus_00_dot_91_bar__minus_02_dot_17 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Cup_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle WineBottle_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_17 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Tomato_bar__plus_01_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_21 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": 0.00282304, + "y": 0.936580539, + "z": -1.72573566 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": -0.6166873, + "y": 0.965303957, + "z": -2.16755772 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_11e2985b", + "position": { + "x": -0.8244117, + "y": 0.9121536, + "z": -2.16755772 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_11e2985b", + "position": { + "x": 1.83363378, + "y": 1.65629137, + "z": -1.8022536 + }, + "rotation": { + "x": -7.062251e-30, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_980e4fc9", + "position": { + "x": -1.49556208, + "y": 1.18029046, + "z": -0.703 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": -0.963619769, + "y": 0.909806132, + "z": -2.2244463 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": 1.64783418, + "y": 0.909806132, + "z": -1.446528 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6ea32579", + "position": { + "x": 0.294566572, + "y": 0.9269507, + "z": 0.30533576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6ea32579", + "position": { + "x": -1.35518289, + "y": 1.65598, + "z": -1.60499954 + }, + "rotation": { + "x": -1.40334208e-14, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_792121da", + "position": { + "x": -1.28486729, + "y": 1.0863781, + "z": -1.8466866 + }, + "rotation": { + "x": 0.0, + "y": 89.99989, + "z": 0.0 + } + }, + { + "objectName": "Potato_4e602a34", + "position": { + "x": -0.0470661819, + "y": 0.9562385, + "z": 1.220139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_980e4fc9", + "position": { + "x": 0.180688992, + "y": 0.9235385, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_11e2985b", + "position": { + "x": -0.0470661819, + "y": 0.929298162, + "z": 0.7627374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_a1e5049a", + "position": { + "x": 0.180688992, + "y": 0.927481055, + "z": 1.220139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_bd8f96dd", + "position": { + "x": 0.444179654, + "y": 1.70332849, + "z": -2.16299129 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_b4d69cc9", + "position": { + "x": -0.0470661819, + "y": 0.972077966, + "z": 0.30533576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_aebda124", + "position": { + "x": 0.408444166, + "y": 1.01180136, + "z": 1.44883978 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_620f4eaa", + "position": { + "x": 1.59099984, + "y": 1.660923, + "z": -2.23862982 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_33e0bb4d", + "position": { + "x": 0.235792845, + "y": 0.9284998, + "z": -1.73793662 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1e14b30", + "position": { + "x": 0.408444166, + "y": 0.9340559, + "z": 0.7627374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": -0.0470661819, + "y": 0.9269507, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_d7116d9f", + "position": { + "x": 1.8451, + "y": 0.948799968, + "z": -0.3554 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_5f9ea4fe", + "position": { + "x": -1.43811274, + "y": 1.183903, + "z": -0.495992362 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6ea32579", + "position": { + "x": 0.03414628, + "y": 2.147982, + "z": -2.12097645 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_bc4f8581", + "position": { + "x": 1.5675, + "y": 0.948799968, + "z": -0.7576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8db17fc4", + "position": { + "x": 0.921726346, + "y": 0.9135421, + "z": -1.75133562 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": 1.466886, + "y": 0.965303957, + "z": -1.21257389 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_c9c37476", + "position": { + "x": 1.18108356, + "y": 0.118819416, + "z": -1.86090386 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": 1.55736017, + "y": 0.9670535, + "z": -1.329551 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": -0.210802972, + "y": 0.765585542, + "z": -2.07131481 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": 0.06681141, + "y": 0.9537251, + "z": 1.44883978 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 1.690094, + "y": 0.115524888, + "z": -1.46335042 + }, + "rotation": { + "x": -7.062251e-30, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3152071403, + "scene_num": 20 + }, + "task_id": "trial_T20190908_041239_666587", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_39U1BHVTDO8MG4O05UCG50X1EX8T3V", + "high_descs": [ + "Turn around, walk towards the fridge, turn left towards the stove, and turn right to where the dishwasher is at.", + "Open the cabinet to the left of the dishwasher and take out the green sponge from it.", + "Turn around, take a step forward, and then turn left towards the fridge.", + "Place the sponge in the bowl in the fridge.", + "Take the bowl with the sponge out of the fridge.", + "Turn to your left and find the cabinet at the right corner from you.", + "Open the cabinet and place the bowl along with the sponge in the cabinet." + ], + "task_desc": "Place a sponge along with a cool bowl in the cabinet below the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_39ZSFO5CABDC1V5E8KUDQ30ST6BUJ5", + "high_descs": [ + "Turn around take a step then turn left and walk to the table then turn right and walk past the table to your left and when you get past it turn left and walk to the stove then turn right and walk to the counter.", + "Open the cupboard to the left of the dishwasher and get the sponge from under there and then close the door.", + "Turn around and take a step then turn left and walk to the fridge.", + "Open the fridge and put the sponge in the bowl to the left of a cup.", + "Pick up the bowl with t he sponge in it then close the fridge.", + "Turn around and take a step then turn right.", + "Put the bowl in the cupboard to the right of the sink under the tomato and then close it's door." + ], + "task_desc": "Put a bowl with a sponge in it in the cupboard.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3KKG4CDWKLFOELYQ72CIO5OVYQ094V", + "high_descs": [ + "move to the counter to the right of the stove", + "pick up a sponge from the cabinet", + "move to the fridge to the right", + "put the sponge in a bowl in the fridge", + "pick up the bowl from the fridge", + "move to the sink to the left", + "put the bowl in a cabinet to the right of the sink" + ], + "task_desc": "Put a bowl with 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_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190907_204836_782402/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190907_204836_782402/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9ac2f53006a9300b8402023784b99f64d49abf33 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190907_204836_782402/initial_state.pddl @@ -0,0 +1,970 @@ + +(define (problem plan_trial_T20190907_204836_782402) +(: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_78_bar__plus_00_dot_99_bar__plus_01_dot_34 - object + Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_02_dot_49 - object + Bowl_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55 - object + Bowl_bar__minus_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_13 - object + Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_40 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_02_dot_04_bar__plus_00_dot_82_bar__plus_00_dot_51 - object + ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_87 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__plus_00_dot_30 - object + Cup_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_01_dot_96 - object + Cup_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_01_dot_16 - object + DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_84 - object + DishSponge_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_50 - object + Egg_bar__minus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_30 - object + Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_06 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_33 - object + Fork_bar__minus_00_dot_29_bar__plus_00_dot_70_bar__plus_01_dot_29 - object + Fork_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_29 - object + Fork_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + Knife_bar__minus_00_dot_15_bar__plus_00_dot_85_bar__plus_00_dot_35 - object + Ladle_bar__minus_01_dot_47_bar__plus_00_dot_17_bar__plus_00_dot_40 - object + Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_13 - 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_74_bar__plus_00_dot_92_bar__plus_01_dot_18 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + PepperShaker_bar__minus_02_dot_06_bar__plus_00_dot_12_bar__plus_00_dot_32 - object + PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_82_bar__plus_00_dot_06 - object + PepperShaker_bar__minus_02_dot_82_bar__plus_01_dot_43_bar__plus_00_dot_33 - object + Plate_bar__minus_02_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_31 - object + Potato_bar__minus_01_dot_45_bar__plus_00_dot_74_bar__plus_00_dot_21 - object + Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_bar__plus_02_dot_22 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_00_dot_17_bar__plus_00_dot_82_bar__plus_01_dot_10 - object + SaltShaker_bar__minus_01_dot_83_bar__plus_00_dot_12_bar__plus_00_dot_40 - object + SaltShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_67 - object + SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 - object + SoapBottle_bar__minus_02_dot_72_bar__plus_01_dot_43_bar__plus_00_dot_23 - object + Spatula_bar__minus_01_dot_71_bar__plus_00_dot_84_bar__plus_00_dot_53 - object + Spoon_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28 - 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 + 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Spatula_bar__minus_01_dot_71_bar__plus_00_dot_84_bar__plus_00_dot_53 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_04_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 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 SaltShaker_bar__minus_00_dot_17_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 Fork_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_87 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (inReceptacle Fork_bar__minus_02_dot_50_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 SoapBottle_bar__minus_02_dot_72_bar__plus_01_dot_43_bar__plus_00_dot_23 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_02_dot_82_bar__plus_01_dot_43_bar__plus_00_dot_33 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle Cup_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_01_dot_16 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (inReceptacle Bowl_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle SaltShaker_bar__minus_01_dot_83_bar__plus_00_dot_12_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle PepperShaker_bar__minus_02_dot_06_bar__plus_00_dot_12_bar__plus_00_dot_32 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Ladle_bar__minus_01_dot_47_bar__plus_00_dot_17_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Tomato_bar__minus_02_dot_89_bar__plus_01_dot_50_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_89_bar__plus_00_dot_86_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Bowl_bar__minus_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Mug_bar__minus_02_dot_74_bar__plus_00_dot_92_bar__plus_01_dot_18 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_34 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Tomato_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_02_dot_54 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_67 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Potato_bar__minus_01_dot_45_bar__plus_00_dot_74_bar__plus_00_dot_21 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_30 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Cup_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__plus_00_dot_30 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_6_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 loc_bar__minus_8_bar_4_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 loc_bar__minus_8_bar_4_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 loc_bar__minus_8_bar_5_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_5_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 loc_bar__minus_7_bar_7_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_8_bar_5_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 loc_bar__minus_4_bar_4_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_73_bar__plus_00_dot_82_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_74_bar__plus_00_dot_92_bar__plus_01_dot_18 loc_bar__minus_8_bar_5_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_50 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_06_bar__plus_00_dot_12_bar__plus_00_dot_32 loc_bar__minus_6_bar_6_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__minus_02_dot_04_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_88_bar__plus_01_dot_43_bar__plus_01_dot_16 loc_bar__minus_8_bar_5_bar_3_bar__minus_15) + (objectAtLocation Egg_bar__minus_01_dot_54_bar__plus_00_dot_85_bar__plus_00_dot_06 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_83_bar__plus_00_dot_12_bar__plus_00_dot_40 loc_bar__minus_6_bar_6_bar_2_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_45_bar__plus_00_dot_74_bar__plus_00_dot_21 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Tomato_bar__minus_02_dot_89_bar__plus_01_dot_50_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_67 loc_bar__minus_4_bar_10_bar_1_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_29 loc_bar__minus_5_bar_4_bar_1_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_34 loc_bar__minus_8_bar_5_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_82_bar__plus_01_dot_43_bar__plus_00_dot_33 loc_bar__minus_6_bar_4_bar_3_bar_0) + (objectAtLocation SaltShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_73_bar__plus_01_dot_44_bar__plus_02_dot_40 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_33 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60) + (objectAtLocation 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_84_bar__plus_00_dot_90_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_29_bar__plus_00_dot_70_bar__plus_01_dot_29 loc_bar__minus_5_bar_4_bar_1_bar_45) + (objectAtLocation Ladle_bar__minus_01_dot_47_bar__plus_00_dot_17_bar__plus_00_dot_40 loc_bar__minus_4_bar_6_bar_2_bar_60) + (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_02_dot_72_bar__plus_01_dot_43_bar__plus_00_dot_23 loc_bar__minus_6_bar_4_bar_3_bar_0) + (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_00_dot_33_bar__plus_00_dot_11_bar__plus_02_dot_54 loc_bar__minus_4_bar_10_bar_1_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 SaltShaker_bar__minus_00_dot_17_bar__plus_00_dot_82_bar__plus_01_dot_10 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_02_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_31 loc_bar__minus_4_bar_4_bar_2_bar_45) + (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_01_dot_71_bar__plus_00_dot_84_bar__plus_00_dot_53 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_15_bar__plus_00_dot_85_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_87 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_02_dot_61_bar__plus_00_dot_82_bar__plus_00_dot_06 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_1_bar_30) + (objectAtLocation DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_84 loc_bar__minus_5_bar_5_bar_1_bar_45) + (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_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55 loc_bar__minus_6_bar_4_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CounterTopType) + (exists (?o - object) + (and + (objectType ?o ForkType) + (exists (?mo - object) + (and + (objectType ?mo CupType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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-0.9796734, + "y": 0.8554612, + "z": 0.2507507 + }, + "rotation": { + "x": 0.00781283, + "y": 30.03808, + "z": 359.371918 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -1.15184784, + "y": 0.8125152, + "z": 0.2779374 + }, + "rotation": { + "x": 0.347994655, + "y": 180.000641, + "z": 359.882751 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.74435759, + "y": 0.916441262, + "z": 1.17865109 + }, + "rotation": { + "x": 0.0, + "y": -0.0001229434, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.72679281, + "y": 0.8214564, + "z": 2.13375473 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2500604666, + "scene_num": 25 + }, + "task_id": "trial_T20190907_204836_782402", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_308XBLVESLLE3KFLGYMRN4UVEULBR4", + "high_descs": [ + "Turn right and take a step forward, then turn right again and walk around the stool to the section of counter to the right of the oven.", + "Pick up the fork off of the counter in front of you.", + "Turn around and walk toward the microwave, then hang a left and walk up to the sink.", + "Put the fork in the green cup that is in the right sink basin.", + "Pick up the green cup with the fork in it.", + "Turn around and take a step forward, then turn left and take a step forward, then turn left again to face the sink.", + "Put the green cup with the fork in it on the front edge of the counter to the right of the sink." + ], + "task_desc": "Put a green cup with a fork in it on the counter.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3ZDAD0O1T4UYW2VEPJJ4CGM5LIIXTO", + "high_descs": [ + "Move to the right of the stove to the counter", + "Pick up a for from the counter", + "Move to the sink to the right of you", + "Place the fork in a green cup", + "Pick up the green cup from the sink", + "Move to the right side of the sink", + "Place the cup on the counter to the right of the sink" + ], + "task_desc": "Put a green cup with a fork inside on the counter to the right of the sink.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3X4MXAO0BJ56RNDWBPINAI7GO4BWRV", + "high_descs": [ + "Turn right and walk across the room and turn left to face the counter.", + "Pick up the fork on the counter.", + "Turn around and walk across the room and turn to the left to face the sink.", + "Place the fork in the cup in the sink", + "Pick up the cup with the fork in it.", + "Step to the right to face the counter to the right of the sink.", + "Place the up on the front corner of the counter." + ], + "task_desc": "To put a cup plus fork combo on the counter to the right of 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-Cup-CounterTop-25/trial_T20190919_023906_457161/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190919_023906_457161/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7a7ac941908288def105254e497097e5c0543003 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190919_023906_457161/initial_state.pddl @@ -0,0 +1,942 @@ + +(define (problem plan_trial_T20190919_023906_457161) +(: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_26_bar__plus_00_dot_13_bar__plus_02_dot_67 - object + Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_28 - object + Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 - object + Bowl_bar__minus_02_dot_75_bar__plus_01_dot_43_bar__plus_00_dot_26 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05 - object + Cup_bar__minus_02_dot_73_bar__plus_01_dot_14_bar__plus_02_dot_40 - object + Cup_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_28 - object + DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_03 - object + Egg_bar__minus_02_dot_74_bar__plus_00_dot_95_bar__plus_01_dot_39 - object + Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_28 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_30_bar__plus_00_dot_70_bar__plus_00_dot_95 - object + Fork_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_87 - object + Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_53 - object + Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_32 - object + Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 - 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_57_bar__plus_00_dot_12_bar__plus_01_dot_55 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 - object + PepperShaker_bar__minus_02_dot_96_bar__plus_00_dot_82_bar__plus_00_dot_28 - object + Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_44 - object + Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_36 - object + Potato_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_00_dot_06 - object + Potato_bar__minus_02_dot_78_bar__plus_01_dot_48_bar__plus_02_dot_05 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_02_dot_38_bar__plus_01_dot_43_bar__plus_00_dot_14 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_40_bar__plus_00_dot_05_bar__plus_02_dot_64 - object + Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 - object + Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_35 - object + Spoon_bar__minus_01_dot_08_bar__plus_00_dot_70_bar__plus_00_dot_44 - 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_67_bar__plus_01_dot_50_bar__plus_01_dot_96 - object + Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96 - 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 + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle + loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_10_bar_1_bar_45 - location + loc_bar__minus_7_bar_7_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_45 - 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_8_bar_6_bar_3_bar_60 - 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_8_bar_0_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 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Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Cup_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05) + (heatable Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96) + (heatable Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_67) + (heatable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_28) + (heatable Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_44) + (heatable Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_28) + (heatable Mug_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55) + (heatable Egg_bar__minus_02_dot_74_bar__plus_00_dot_95_bar__plus_01_dot_39) + (coolable Cup_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_28) + (coolable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_01_dot_96) + (coolable Cup_bar__minus_02_dot_73_bar__plus_01_dot_14_bar__plus_02_dot_40) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Potato_bar__minus_02_dot_78_bar__plus_01_dot_48_bar__plus_02_dot_05) + (coolable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (coolable Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_bar__plus_00_dot_36) + (coolable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (coolable Potato_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_00_dot_06) + (coolable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Cup_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05) + (coolable Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_67) + (coolable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_28) + (coolable Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_44) + (coolable Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_28) + (coolable Mug_bar__minus_02_dot_57_bar__plus_00_dot_12_bar__plus_01_dot_55) + (coolable Egg_bar__minus_02_dot_74_bar__plus_00_dot_95_bar__plus_01_dot_39) + (coolable Bowl_bar__minus_02_dot_75_bar__plus_01_dot_43_bar__plus_00_dot_26) + + + + + + (sliceable Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_01_dot_96) + (sliceable Potato_bar__minus_02_dot_78_bar__plus_01_dot_48_bar__plus_02_dot_05) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (sliceable Potato_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_00_dot_06) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96) + (sliceable Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_67) + (sliceable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_28) + (sliceable Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_28) + (sliceable Egg_bar__minus_02_dot_74_bar__plus_00_dot_95_bar__plus_01_dot_39) + + (inReceptacle DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_02_dot_03 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (inReceptacle Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68) + (inReceptacle Potato_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_87 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_01_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 Apple_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_01_dot_71_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 PepperShaker_bar__minus_02_dot_38_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 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 Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_35 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 PepperShaker_bar__minus_02_dot_96_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_00_dot_30_bar__plus_00_dot_70_bar__plus_00_dot_95 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (inReceptacle Spoon_bar__minus_01_dot_08_bar__plus_00_dot_70_bar__plus_00_dot_44 Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle Bowl_bar__minus_02_dot_75_bar__plus_01_dot_43_bar__plus_00_dot_26 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_38_bar__plus_01_dot_43_bar__plus_00_dot_14 Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23) + (inReceptacle Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_32 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle Plate_bar__minus_02_dot_06_bar__plus_00_dot_13_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_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_44 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75) + (inReceptacle Tomato_bar__minus_02_dot_67_bar__plus_01_dot_50_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_78_bar__plus_01_dot_48_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_73_bar__plus_01_dot_14_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_73_bar__plus_00_dot_83_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_81_bar__plus_00_dot_92_bar__plus_01_dot_28 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_28 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Egg_bar__minus_02_dot_74_bar__plus_00_dot_95_bar__plus_01_dot_39 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_67 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle SoapBottle_bar__minus_00_dot_40_bar__plus_00_dot_05_bar__plus_02_dot_64 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (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) + (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19) + + + (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 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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 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"Apple_0dd786e0", + "position": { + "x": -0.262604654, + "y": 0.129467249, + "z": 2.67462254 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -2.84096551, + "y": 0.8965656, + "z": 0.278 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_2c8fe53a", + "position": { + "x": -2.5815177, + "y": 0.8241485, + "z": 0.871343434 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_3943cbe8", + "position": { + "x": -2.54089117, + "y": 1.89342344, + "z": 2.3168416 + }, + "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": -0.395996869, + "y": 0.05428255, + "z": 2.64073944 + }, + "rotation": { + "x": 0.0, + 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"y": 0.696, + "z": 1.194 + }, + "rotation": { + "x": 0.0, + "y": 45.0000267, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -1.7095356, + "y": 0.8492183, + "z": 0.528825939 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -2.910437, + "y": 0.94571954, + "z": 1.28474 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -2.72679257, + "y": 0.8251886, + "z": 2.045809 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d1baac51", + "position": { + "x": -1.15182948, + "y": 0.823642, + "z": 0.426242471 + }, + "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": 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0.9141403 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 953824249, + "scene_num": 25 + }, + "task_id": "trial_T20190919_023906_457161", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3SFPSMFRSRTB3_3J4Q2Z4UT1K6FMYWYATN5SXBSB1WQ8", + "high_descs": [ + "Turn around and walk to the sink. Turn right and face the counter with the dishwasher in it.", + "Pick up the fork from the counter above the dishwasher and in front of the canisters.", + "Turn right, walk to the refrigerator. Turn left to face the refrigerator.", + "Open refrigerator door, place the fork in the cup on the second shelf down.", + "Lift the cup with the spoon in it, close the refrigerator door.", + "Turn left and go to the sink.", + "Place the cup with the spoon on the counter to the right, above the dishwasher." + ], + "task_desc": "Put a fork in a cup, and move the cup to a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3VSOLARPKEQ3WPFM7O7ZE0WPKHY93M", + "high_descs": [ + "Turn around, go to the sink, turn left, go to the counter", + "Pick up the fork on the counter", + "Turn right, go forward, turn left in front of the fridge, open the fridge", + "Put the fork into the glass in the middle shelf of the fridge", + "Take the glass with the fork in it, close the fridge", + "Turn left, go towards the sink", + "Put the glass on the counter to the right" + ], + "task_desc": "Put a glass with a fork in it on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3YOH7BII0CO7PU0WVV4UN42OMVPVKL", + "high_descs": [ + "Move to the counter to the right of the sink", + "Pick up a fork from the counter", + "Move to the fridge to the right of you", + "Put the fork inside a cup", + "Pick up the cup with the fork inside and close the door", + "Move to the counter to the right of the sink", + "Place the cup on the counter" + ], + "task_desc": "Put a chilled cup with a fork on the counter.", + "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-Cup-CounterTop-25/trial_T20190919_044748_406378/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190919_044748_406378/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5c9f4db459b3466c9805a2dab1d32a39b02681bd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190919_044748_406378/initial_state.pddl @@ -0,0 +1,964 @@ + +(define (problem plan_trial_T20190919_044748_406378) +(: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_36_bar__plus_00_dot_13_bar__plus_02_dot_54 - object + Apple_bar__minus_02_dot_67_bar__plus_01_dot_52_bar__plus_02_dot_22 - object + Bowl_bar__minus_02_dot_06_bar__plus_00_dot_12_bar__plus_00_dot_40 - object + Bowl_bar__minus_02_dot_61_bar__plus_00_dot_12_bar__plus_01_dot_55 - 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_48_bar__plus_00_dot_70_bar__plus_00_dot_30 - object + Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_01_dot_96 - object + Cup_bar__minus_02_dot_84_bar__plus_01_dot_45_bar__plus_02_dot_31 - object + DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_06_bar__plus_02_dot_64 - object + DishSponge_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_28 - object + Egg_bar__minus_02_dot_74_bar__plus_00_dot_95_bar__plus_01_dot_44 - object + Egg_bar__minus_02_dot_84_bar__plus_01_dot_47_bar__plus_02_dot_05 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_30_bar__plus_00_dot_70_bar__plus_00_dot_88 - object + Fork_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_50 - object + Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + Knife_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13 - object + Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 - object + 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Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_01_dot_58_bar__plus_00_dot_12_bar__plus_00_dot_48 - object + SaltShaker_bar__minus_01_dot_89_bar__plus_00_dot_12_bar__plus_00_dot_28 - object + SaltShaker_bar__minus_02_dot_38_bar__plus_01_dot_43_bar__plus_00_dot_06 - 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_13 - object + SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_32 - object + Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 - object + Spoon_bar__minus_01_dot_11_bar__plus_00_dot_70_bar__plus_00_dot_38 - object + Spoon_bar__minus_02_dot_38_bar__plus_00_dot_81_bar__plus_00_dot_35 - object + Spoon_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_51 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object + 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CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_01_dot_21_bar__plus_00_dot_81_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 Mug_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_21 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_bar__minus_02_dot_38_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_82_bar__plus_00_dot_82_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_00_dot_30_bar__plus_00_dot_70_bar__plus_00_dot_88 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (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_11_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_51 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle Plate_bar__minus_02_dot_72_bar__plus_01_dot_44_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_38_bar__plus_01_dot_43_bar__plus_00_dot_06 Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23) + (inReceptacle Mug_bar__minus_02_dot_86_bar__plus_01_dot_43_bar__plus_00_dot_64 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82) + (inReceptacle Bowl_bar__minus_02_dot_61_bar__plus_00_dot_12_bar__plus_01_dot_55 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle Bowl_bar__minus_02_dot_06_bar__plus_00_dot_12_bar__plus_00_dot_40 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle SaltShaker_bar__minus_01_dot_89_bar__plus_00_dot_12_bar__plus_00_dot_28 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle SaltShaker_bar__minus_01_dot_58_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 SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_12_bar__plus_00_dot_32 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Potato_bar__minus_02_dot_89_bar__plus_01_dot_18_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Plate_bar__minus_02_dot_67_bar__plus_00_dot_83_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Apple_bar__minus_02_dot_67_bar__plus_01_dot_52_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_84_bar__plus_01_dot_45_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Egg_bar__minus_02_dot_84_bar__plus_01_dot_47_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_81_bar__plus_00_dot_92_bar__plus_01_dot_18 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Egg_bar__minus_02_dot_74_bar__plus_00_dot_95_bar__plus_01_dot_44 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Apple_bar__minus_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_54 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_06_bar__plus_02_dot_64 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (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) + (inReceptacle Cup_bar__minus_01_dot_48_bar__plus_00_dot_70_bar__plus_00_dot_30 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 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Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 loc_bar__minus_5_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_5_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 loc_bar__minus_7_bar_7_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_8_bar_5_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_60) + (receptacleAtLocation Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 loc_bar__minus_4_bar_4_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_06_bar__plus_00_dot_12_bar__plus_00_dot_40 loc_bar__minus_6_bar_6_bar_2_bar_60) + (objectAtLocation 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loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation 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_00_dot_36_bar__plus_00_dot_13_bar__plus_02_dot_54 loc_bar__minus_4_bar_10_bar_1_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 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SaltShaker_bar__minus_01_dot_89_bar__plus_00_dot_12_bar__plus_00_dot_28 loc_bar__minus_6_bar_6_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_72_bar__plus_01_dot_44_bar__plus_00_dot_29 loc_bar__minus_6_bar_4_bar_3_bar_0) + (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_34_bar__plus_00_dot_70_bar__plus_01_dot_19 loc_bar__minus_5_bar_4_bar_1_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_02_dot_84_bar__plus_01_dot_47_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_01_dot_48_bar__plus_00_dot_70_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_43 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_1_bar_30) + (objectAtLocation DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_06_bar__plus_02_dot_64 loc_bar__minus_4_bar_10_bar_1_bar_60) + (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_02_dot_38_bar__plus_00_dot_81_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_61_bar__plus_00_dot_12_bar__plus_01_dot_55 loc_bar__minus_6_bar_4_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CounterTopType) + (exists (?o - object) + (and + (objectType ?o ForkType) + (exists (?mo - object) + (and + (objectType ?mo CupType) + (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-Cup-CounterTop-25/trial_T20190919_044748_406378/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190919_044748_406378/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9d554ff08cceda682347b7a16eaea6f7ffacb6ef --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Fork-Cup-CounterTop-25/trial_T20190919_044748_406378/traj_data.json @@ -0,0 +1,4165 @@ +{ + "images": [ + { + "high_idx": 0, + 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"Plate_29dab58d", + "position": { + "x": -2.671586, + "y": 0.8295449, + "z": 2.133755 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_3a4a4d0d", + "position": { + "x": -1.52280354, + "y": 0.123089075, + "z": 0.323648632 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.60917473, + "y": 0.118135333, + "z": 1.55042481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -1.8856113, + "y": 0.1203081, + "z": 0.284624934 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -2.37782431, + "y": 1.43102276, + "z": 0.0595619529 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -0.09213793, + "y": 0.818599939, + "z": 1.21489143 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.81078935, + "y": 0.916441262, + "z": 1.17865086 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -0.362648815, + "y": 0.129467249, + "z": 2.53909016 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_0dd786e0", + "position": { + "x": -2.671585, + "y": 1.5185833, + "z": 2.22170043 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Fork_2c8fe53a", + "position": { + "x": -1.21490324, + "y": 0.8139957, + "z": 0.498011 + }, + "rotation": { + "x": 0.246506274, + "y": 0.000168781946, + "z": 359.73764 + } + }, + { + "objectName": "Ladle_3943cbe8", + "position": { + "x": -0.3711, + "y": 0.7386, + "z": 0.8791 + }, + "rotation": { + "x": 0.0, + "y": 44.9999161, + "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": -0.8170933, + "y": 0.821380854, + "z": 0.129757524 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": -2.504354, + "y": 0.873123646, + "z": 0.707708836 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_a3c14b3a", + "position": { + "x": -2.89241552, + "y": 1.182501, + "z": 2.39758968 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -1.58026433, + "y": 0.1203081, + "z": 0.479743481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_29dab58d", + "position": { + "x": -2.58795142, + "y": 0.8134272, + "z": 0.309517145 + }, + "rotation": { + "x": 6.28761063e-06, + "y": 359.725342, + "z": 1.90007977e-05 + } + }, + { + "objectName": "Spatula_77ce7117", + "position": { + "x": -0.341, + "y": 0.696, + "z": 1.194 + }, + "rotation": { + "x": 0.0, + "y": 45.0000267, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -2.25881338, + "y": 0.849218369, + "z": 0.1297577 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -2.744358, + "y": 0.94571954, + "z": 1.44387424 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -2.67158556, + "y": 0.8251886, + "z": 1.95786357 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "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": -1.8365, + "y": 0.7415, + "z": 0.238453716 + }, + "rotation": { + "x": 0.0, + "y": 55.91092, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -2.375244, + "y": 0.818599939, + "z": 0.4262423 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -2.84096551, + "y": 0.8231642, + "z": 0.278 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.979999542, + "y": 0.8554753, + "z": 0.249999955 + }, + "rotation": { + "x": -5.270255e-06, + "y": 29.9999123, + "z": -4.99874841e-06 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -2.56398416, + "y": 0.693945944, + "z": 1.511054 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.85834, + "y": 1.430771, + "z": 0.640114844 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.05799365, + "y": 0.121914148, + "z": 0.401696056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 212216470, + "scene_num": 25 + }, + "task_id": "trial_T20190919_044748_406378", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_3S4AW7T80EZJFNZZWZF8TEFQY9KL4L", + "high_descs": [ + "Turn to the right and find the sink.", + "Pick up the fork to the left of the sink.", + "Place the fork in the green glass on the left side of the sink.", + "Pick up the glass and fork from the sink.", + "Take the glass and back up a few steps.", + "Place the glass to the back of the counter, to the right of the sink." + ], + "task_desc": "Move a glass and fork from the sink to the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_36V4Q8R5ZNHAAA4IU8N0WUVKU62MQG", + "high_descs": [ + "Turn right and walk to the sink.", + "Pick up the fork from the counter top by the sink.", + "Put the fork in the green cup which is in the left sink basin.", + "Pick the green cup out of the sink basin.", + "Walk to the counter top to the right of the sink.", + "Place the cup on the counter top, to the right of the large knife." + ], + "task_desc": "Place a cup with a fork in it on a counter top in a kitchen.", + "votes": [ + 0, + 1, + 1 + ] + }, + { + "assignment_id": "A6SR4BU227GUH_3K3R2QNK8EKNVJS5M83019MPXSE9UM", + "high_descs": [ + "turn right and go to face the kitchen sink", + "pick up the fork to the left of the sink", + "place the fork in the green bowl located in the sink", + "pick up the green bowl in the sink", + "move to the right side of the sink", + "place the green bowl to the right of the knife" + ], + "task_desc": "place a fork in a bowl and move it to the other side of the sink", + "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-Ladle-Bowl-Cabinet-16/trial_T20190908_065703_039090/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Ladle-Bowl-Cabinet-16/trial_T20190908_065703_039090/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..472d1f8ad9743f03e81b31c968492535df42b18e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Ladle-Bowl-Cabinet-16/trial_T20190908_065703_039090/initial_state.pddl @@ -0,0 +1,1477 @@ + +(define (problem plan_trial_T20190908_065703_039090) +(: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_80_bar__plus_00_dot_81_bar__plus_03_dot_82 - object + Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_41 - object + Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 - object + Bowl_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_56 - object + Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_03_dot_90 - object + Bread_bar__plus_02_dot_74_bar__plus_01_dot_09_bar__plus_00_dot_06 - object + ButterKnife_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_05 - object + ButterKnife_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_65 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_01_dot_72_bar__plus_02_dot_28_bar__minus_01_dot_83 - object + DishSponge_bar__plus_02_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_94 - object + DishSponge_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_18 - object + Egg_bar__plus_02_dot_45_bar__plus_00_dot_81_bar__plus_03_dot_75 - object + Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_81 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_10_bar__plus_00_dot_77_bar__plus_03_dot_82 - object + Fork_bar__plus_02_dot_23_bar__plus_00_dot_77_bar__plus_03_dot_80 - object + Fork_bar__plus_02_dot_80_bar__plus_00_dot_77_bar__plus_04_dot_12 - object + Glassbottle_bar__plus_02_dot_81_bar__plus_00_dot_03_bar__minus_00_dot_79 - object + Glassbottle_bar__minus_00_dot_88_bar__plus_01_dot_44_bar__minus_00_dot_52 - object + Glassbottle_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_01_dot_94 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_02_dot_53_bar__plus_00_dot_79_bar__plus_04_dot_32 - object + Knife_bar__plus_02_dot_71_bar__plus_01_dot_05_bar__minus_01_dot_15 - object + 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PepperShaker_bar__plus_02_dot_24_bar__plus_00_dot_76_bar__plus_03_dot_66 - object + PepperShaker_bar__minus_00_dot_81_bar__plus_02_dot_29_bar__minus_00_dot_61 - object + Plate_bar__plus_02_dot_38_bar__plus_00_dot_76_bar__plus_04_dot_15 - object + Plate_bar__plus_02_dot_75_bar__plus_01_dot_03_bar__plus_01_dot_35 - object + Plate_bar__minus_01_dot_02_bar__plus_01_dot_78_bar__plus_01_dot_25 - object + Potato_bar__plus_02_dot_70_bar__plus_00_dot_81_bar__plus_03_dot_69 - object + Potato_bar__plus_03_dot_00_bar__plus_01_dot_07_bar__plus_01_dot_30 - object + Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + SaltShaker_bar__minus_01_dot_07_bar__plus_01_dot_02_bar__plus_01_dot_43 - object + SaltShaker_bar__minus_01_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_43 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + 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Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_41) + + + + + + (sliceable Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_03_dot_90) + (sliceable Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_81) + (sliceable Potato_bar__plus_02_dot_70_bar__plus_00_dot_81_bar__plus_03_dot_69) + (sliceable Bread_bar__plus_02_dot_74_bar__plus_01_dot_09_bar__plus_00_dot_06) + (sliceable Lettuce_bar__plus_02_dot_30_bar__plus_00_dot_82_bar__plus_04_dot_50) + (sliceable Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18) + (sliceable Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_26) + (sliceable Potato_bar__plus_03_dot_00_bar__plus_01_dot_07_bar__plus_01_dot_30) + (sliceable Apple_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__plus_03_dot_82) + (sliceable Egg_bar__plus_02_dot_45_bar__plus_00_dot_81_bar__plus_03_dot_75) + (sliceable Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_41) + + (inReceptacle Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle Plate_bar__plus_02_dot_75_bar__plus_01_dot_03_bar__plus_01_dot_35 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_01_dot_41_bar__plus_01_dot_07_bar__minus_01_dot_88 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle PaperTowelRoll_bar__plus_02_dot_43_bar__plus_01_dot_13_bar__minus_01_dot_67 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_02_dot_96_bar__plus_01_dot_07_bar__minus_01_dot_46 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Potato_bar__plus_03_dot_00_bar__plus_01_dot_07_bar__plus_01_dot_30 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Bread_bar__plus_02_dot_74_bar__plus_01_dot_09_bar__plus_00_dot_06 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_02_dot_71_bar__plus_01_dot_05_bar__minus_01_dot_15 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle PepperShaker_bar__plus_02_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_11 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_02_dot_34_bar__plus_01_dot_07_bar__plus_01_dot_80 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Pan_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Apple_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__plus_03_dot_82 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Potato_bar__plus_02_dot_70_bar__plus_00_dot_81_bar__plus_03_dot_69 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Knife_bar__plus_02_dot_53_bar__plus_00_dot_79_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle PepperShaker_bar__plus_02_dot_24_bar__plus_00_dot_76_bar__plus_03_dot_66 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Fork_bar__plus_02_dot_23_bar__plus_00_dot_77_bar__plus_03_dot_80 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spatula_bar__plus_02_dot_53_bar__plus_00_dot_78_bar__plus_04_dot_15 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle WineBottle_bar__plus_02_dot_79_bar__plus_00_dot_77_bar__plus_03_dot_53 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spatula_bar__plus_02_dot_10_bar__plus_00_dot_78_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Fork_bar__plus_02_dot_10_bar__plus_00_dot_77_bar__plus_03_dot_82 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spoon_bar__plus_02_dot_51_bar__plus_00_dot_77_bar__plus_03_dot_58 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_30_bar__plus_00_dot_82_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle ButterKnife_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_05 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Egg_bar__plus_02_dot_45_bar__plus_00_dot_81_bar__plus_03_dot_75 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Plate_bar__plus_02_dot_38_bar__plus_00_dot_76_bar__plus_04_dot_15 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Fork_bar__plus_02_dot_80_bar__plus_00_dot_77_bar__plus_04_dot_12 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spoon_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_01_dot_94 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Glassbottle_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_01_dot_94 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Spoon_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle SaltShaker_bar__minus_01_dot_07_bar__plus_01_dot_02_bar__plus_01_dot_43 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle SoapBottle_bar__minus_01_dot_10_bar__plus_01_dot_03_bar__plus_01_dot_61 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle SaltShaker_bar__minus_01_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_43 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle DishSponge_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_01_dot_18 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13) + (inReceptacle ButterKnife_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_65 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle DishSponge_bar__plus_02_dot_26_bar__plus_00_dot_80_bar__plus_00_dot_94 Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04) + (inReceptacle Cup_bar__plus_01_dot_72_bar__plus_02_dot_28_bar__minus_01_dot_83 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71) + (inReceptacle PepperShaker_bar__minus_00_dot_81_bar__plus_02_dot_29_bar__minus_00_dot_61 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87) + (inReceptacle Ladle_bar__minus_00_dot_72_bar__plus_00_dot_09_bar__plus_00_dot_44 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27) + (inReceptacle Plate_bar__minus_01_dot_02_bar__plus_01_dot_78_bar__plus_01_dot_25 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60) + (inReceptacle Glassbottle_bar__plus_02_dot_81_bar__plus_00_dot_03_bar__minus_00_dot_79 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49) + (inReceptacle Glassbottle_bar__minus_00_dot_88_bar__plus_01_dot_44_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Mug_bar__plus_01_dot_84_bar__plus_01_dot_86_bar__minus_01_dot_84 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Mug_bar__plus_02_dot_05_bar__plus_01_dot_86_bar__minus_01_dot_78 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_81 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83) + (inReceptacle Spatula_bar__minus_00_dot_58_bar__plus_00_dot_83_bar__plus_01_dot_10 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_57 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_26 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 loc_bar_2_bar_6_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 loc_bar_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 loc_bar_0_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 loc_bar_0_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 loc_bar_0_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45) + (receptacleAtLocation 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Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 loc_bar_7_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 loc_bar_2_bar_9_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30) + (receptacleAtLocation Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar_0_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 loc_bar_8_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45) + 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loc_bar_8_bar__minus_4_bar_2_bar_30) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0) + (objectAtLocation WineBottle_bar__plus_02_dot_79_bar__plus_00_dot_77_bar__plus_03_dot_53 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Plate_bar__minus_01_dot_02_bar__plus_01_dot_78_bar__plus_01_dot_25 loc_bar_0_bar_5_bar_3_bar__minus_30) + (objectAtLocation Spatula_bar__plus_02_dot_53_bar__plus_00_dot_78_bar__plus_04_dot_15 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_02_dot_43_bar__plus_01_dot_13_bar__minus_01_dot_67 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30) + (objectAtLocation Lettuce_bar__plus_02_dot_30_bar__plus_00_dot_82_bar__plus_04_dot_50 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"assignment_id": "A24RGLS3BRZ60J_3EA3QWIZ4LC1676JQXJ396ZQXN6TIC", + "high_descs": [ + "Turn around and go across the room. Face the counter to the left.", + "Pick up the ladle on the right side of the counter.", + "Hold the ladle and take a step to the left.", + "Place the ladle in the bowl on the left side of the counter.", + "Pick up the bowl from the counter.", + "Carry the bowl and turn left and right around the counter.", + "Open the bottom right cabinet and place the bowl and ladle inside." + ], + "task_desc": "Move a bowl and ladle to a cabinet.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A002160837SWJFPIAI7L7_3LYA37P8IT4SGG2QQEDUMS8HJMGBK4", + "high_descs": [ + "Turn around and walk to the counter space beside the stove.", + "Pick up the ladle from the counter.", + "Re-position to the left and face the bowl on the counter.", + "Place the ladle inside of the bowl on the counter.", + "Pick up the bowl.", + "Turn left then turn right and walk to the cabinets.", + "Place the bowl in the rightmost cabinet." + ], + "task_desc": "Place a bowl with a ladle in it inside of the cabinet.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3BF51CHDTYR0U3Y8MDD8PJW6147H0J", + "high_descs": [ + "Walk to the edge of the kitchen counter on your left.", + "Grab the spoon off the counter.", + "Walk in front of the cup.", + "Place the spoon in the cup.", + "Grab the cup with the spoon in it.", + "Walk to the cabinets near the stove.", + "Place the cup in the bottom right cabinet." + ], + "task_desc": "Put a cup and spoon away 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_with_movable_recep-Ladle-Bowl-Cabinet-16/trial_T20190908_072217_537537/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Ladle-Bowl-Cabinet-16/trial_T20190908_072217_537537/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..82b31ef7500adee1079e5e4c90f70c9d9462b31d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Ladle-Bowl-Cabinet-16/trial_T20190908_072217_537537/initial_state.pddl @@ -0,0 +1,1513 @@ + +(define (problem plan_trial_T20190908_072217_537537) +(: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_36_bar__plus_01_dot_08_bar__plus_01_dot_45 - object + Apple_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_00_dot_69 - object + Bowl_bar__minus_00_dot_78_bar__plus_00_dot_81_bar__plus_01_dot_49 - object + Bowl_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__minus_00_dot_18 - object + Bread_bar__plus_02_dot_30_bar__plus_00_dot_83_bar__plus_03_dot_80 - object + Bread_bar__plus_02_dot_45_bar__plus_00_dot_83_bar__plus_04_dot_12 - object + Bread_bar__plus_02_dot_96_bar__plus_01_dot_09_bar__minus_00_dot_54 - object + ButterKnife_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_04_dot_12 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_02_dot_60_bar__plus_00_dot_76_bar__plus_04_dot_50 - object + Cup_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_10 - object + Cup_bar__minus_00_dot_88_bar__plus_01_dot_44_bar__minus_00_dot_63 - object + DishSponge_bar__plus_01_dot_59_bar__plus_00_dot_80_bar__plus_01_dot_56 - object + DishSponge_bar__plus_02_dot_40_bar__plus_00_dot_80_bar__plus_01_dot_07 - object + DishSponge_bar__plus_02_dot_95_bar__plus_00_dot_76_bar__plus_04_dot_25 - object + Egg_bar__plus_02_dot_11_bar__plus_01_dot_91_bar__minus_01_dot_88 - object + Egg_bar__plus_02_dot_54_bar__plus_01_dot_07_bar__minus_00_dot_24 - object + Egg_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_01_dot_94 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_42 - object + Glassbottle_bar__plus_01_dot_30_bar__plus_01_dot_78_bar__minus_01_dot_87 - object + Glassbottle_bar__plus_02_dot_53_bar__plus_00_dot_77_bar__plus_03_dot_62 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__plus_03_dot_97 - object + Knife_bar__plus_02_dot_60_bar__plus_00_dot_79_bar__plus_03_dot_45 - object + Ladle_bar__plus_01_dot_93_bar__plus_00_dot_80_bar__plus_04_dot_04 - object + Ladle_bar__plus_02_dot_88_bar__plus_01_dot_07_bar__plus_00_dot_07 - object + Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_02_dot_19 - object + Lettuce_bar__plus_02_dot_30_bar__plus_00_dot_82_bar__plus_04_dot_52 - object + Lettuce_bar__plus_02_dot_58_bar__plus_01_dot_09_bar__plus_00_dot_91 - object + Lettuce_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_18 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__plus_02_dot_37_bar__plus_01_dot_02_bar__plus_01_dot_55 - object + Mug_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_80 - object + Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 - object + PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_00_dot_42 - object + PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__plus_00_dot_78 - object + PepperShaker_bar__minus_01_dot_02_bar__plus_01_dot_78_bar__plus_00_dot_74 - object + Plate_bar__plus_02_dot_16_bar__plus_01_dot_03_bar__plus_01_dot_35 - object + Plate_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_03_dot_82 - object + Potato_bar__minus_00_dot_78_bar__plus_00_dot_86_bar__plus_01_dot_18 - object + Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_63 - object + Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + SaltShaker_bar__plus_02_dot_05_bar__plus_00_dot_76_bar__plus_04_dot_37 - object + SaltShaker_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__plus_01_dot_84 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__minus_00_dot_89_bar__plus_00_dot_05_bar__plus_00_dot_87 - object + Spatula_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__plus_01_dot_34 - object + Spoon_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__plus_00_dot_07 - object + Spoon_bar__minus_00_dot_54_bar__plus_01_dot_03_bar__plus_00_dot_32 - object + Spoon_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_18 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__plus_01_dot_35_bar__plus_01_dot_08_bar__minus_01_dot_67 - object + Tomato_bar__minus_00_dot_92_bar__plus_00_dot_13_bar__plus_02_dot_81 - object + Tomato_bar__minus_00_dot_99_bar__plus_00_dot_84_bar__minus_00_dot_74 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_01_dot_45_bar__plus_00_dot_04_bar__minus_01_dot_55 - object + WineBottle_bar__plus_02_dot_90_bar__plus_00_dot_04_bar__plus_00_dot_22 - object + WineBottle_bar__minus_01_dot_19_bar__plus_01_dot_03_bar__plus_01_dot_15 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle + CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle + CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle + DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle + Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle + Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle + Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle + Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle + 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StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + loc_bar_2_bar_6_bar_3_bar_60 - location + loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_10_bar_12_bar_0_bar_45 - location + loc_bar_0_bar_6_bar_3_bar_45 - location + loc_bar_2_bar_11_bar_3_bar_30 - location + loc_bar_7_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_0_bar_1_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar__minus_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_45 - location + loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar__minus_30 - location + loc_bar_7_bar_3_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_3_bar_0_bar_45 - location + loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_2_bar_2_bar_3_bar_30 - location + loc_bar_2_bar_8_bar_3_bar_60 - location + loc_bar_8_bar_2_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location + loc_bar_0_bar_9_bar_3_bar_30 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar_6_bar_1_bar_1_bar_60 - location + loc_bar_3_bar_10_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 DrawerType) + (receptacleType DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType) + (receptacleType 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loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_54_bar__plus_01_dot_03_bar__plus_00_dot_32 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_80 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CabinetType) + (exists (?o - object) + (and + (objectType ?o LadleType) + (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-Ladle-Bowl-Cabinet-16/trial_T20190908_072217_537537/traj_data.json 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"objectName": "WineBottle_ca02bbc4", + "position": { + "x": 1.45087934, + "y": 0.0365276337, + "z": -1.54677 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_1895c9f9", + "position": { + "x": 2.62600017, + "y": 0.764959335, + "z": 3.82156277 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Spatula_87bb090b", + "position": { + "x": -0.714400053, + "y": 0.83964026, + "z": 1.33710909 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_758d0bf4", + "position": { + "x": -0.7949977, + "y": 1.13178539, + "z": 0.416114569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_2bc5be8e", + "position": { + "x": 2.57816267, + "y": 1.08503056, + "z": 0.907042 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": -0.360740721, + "y": 1.07785249, + "z": 1.44829655 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c2d3cb7a", + "position": { + "x": 2.04694128, + "y": 0.7607765, + "z": 4.372973 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_26395c85", + "position": { + "x": -1.02223933, + "y": 1.77766514, + "z": 0.7372583 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_98253f2a", + "position": { + "x": 2.97599983, + "y": 0.7645124, + "z": 4.11843824 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": 2.45099974, + "y": 0.832571, + "z": 4.118438 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": -0.6459911, + "y": 0.8151458, + "z": 1.10397112 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 1.5921092, + "y": 0.80009973, + "z": 1.55806208 + }, + "rotation": { + "x": 0.0, + "y": 317.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": -0.7828089, + "y": 0.814990342, + "z": 1.492535 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": 2.76215744, + "y": 0.8022111, + "z": 0.07277948 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": 2.37079453, + "y": 1.02187347, + "z": 1.55051351 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3933127812, + "scene_num": 16 + }, + "task_id": "trial_T20190908_072217_537537", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AO33H4GL9KZX9_3N2BF7Y2VTBXXH5FBI06NG3J32VMHB", + "high_descs": [ + "Turn around and go to the middle of the counter on the left. ", + "Pick up the ladle on the counter. ", + "Turn around and go to the refrigerator. ", + "Place the ladle inside the brown bowl.", + "Take the bowl with the ladle in it out of the refrigerator.", + "Turn around and go to the counter on the left of the stove.", + "Place the bowl with the ladle in it in the right cabinet below the counter. " + ], + "task_desc": "Move the bowl and ladle from the refrigerator to the cabinet. ", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3OF2M9AATJ5OYE56WSTX8AFKBTWKZM", + "high_descs": [ + "Turn around and hang a left at the black fridge to reach the counter.", + "Pick up the spoon with the black handle on the counter to the left of the loaf of bread.", + "Turn around and walk to the fridge ahead.", + "Open the fridge and put the spoon inside the brown bowl on the top shelf on the right side.", + "Pick up the bowl with the spoon from inside the fridge and close the door.", + "Turn around and cross the room to reach the cabinets under the counter next to the white stove.", + "Open the lower right cabinet, put the bowl with the spoon inside the cabinet and close the door." + ], + "task_desc": "Place a bowl with a spoon inside a cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_36TFCYNS47R8RT4JPP2FYXJHA73HXG", + "high_descs": [ + "Turn completely around, walk forward a bit, then make a left to walk over to the counter space where the ladle and egg are. ", + "Pick up the ladle that is on the counter. ", + "Turn around and walk towards the refrigerator. ", + "Place the ladle inside the bowl that is in the fridge. ", + "Take the bowl with the ladle out of the fridge and close the door. ", + "Turn around and walk back towards the counter space that is across from you.", + "Place the bowl with the ladle inside of the lower cabinet that is to the left of the stove and close the door. " + ], + "task_desc": "Move a chilled bowl with a ladle inside to a cabinet. ", + "votes": [ + 1, + 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-Ladle-Bowl-Cabinet-16/trial_T20190908_072254_824822/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Ladle-Bowl-Cabinet-16/trial_T20190908_072254_824822/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..38691e5a0401407b3adb76b3d9141087099555ce --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Ladle-Bowl-Cabinet-16/trial_T20190908_072254_824822/initial_state.pddl @@ -0,0 +1,1465 @@ + +(define (problem plan_trial_T20190908_072254_824822) +(: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_65_bar__plus_00_dot_87_bar__plus_01_dot_57 - object + Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_41 - object + Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 - object + Bowl_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_04_dot_04 - object + Bowl_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53 - object + Bread_bar__plus_01_dot_35_bar__plus_01_dot_09_bar__minus_01_dot_45 - object + Bread_bar__plus_02_dot_84_bar__plus_00_dot_83_bar__plus_04_dot_36 - object + ButterKnife_bar__minus_00_dot_73_bar__plus_00_dot_80_bar__plus_00_dot_78 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__minus_00_dot_99_bar__plus_00_dot_78_bar__minus_00_dot_18 - object + DishSponge_bar__plus_02_dot_23_bar__plus_00_dot_80_bar__plus_01_dot_16 - object + DishSponge_bar__plus_03_dot_04_bar__plus_01_dot_03_bar__minus_00_dot_24 - object + DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_37 - object + Egg_bar__minus_00_dot_42_bar__plus_01_dot_07_bar__plus_00_dot_88 - object + 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Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_41) + + + + + + (sliceable Bread_bar__plus_01_dot_35_bar__plus_01_dot_09_bar__minus_01_dot_45) + (sliceable Lettuce_bar__plus_02_dot_38_bar__plus_00_dot_82_bar__plus_03_dot_97) + (sliceable Potato_bar__minus_00_dot_99_bar__plus_00_dot_83_bar__minus_00_dot_74) + (sliceable Lettuce_bar__plus_02_dot_89_bar__plus_01_dot_09_bar__plus_01_dot_20) + (sliceable Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_57) + (sliceable Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_03_dot_45) + (sliceable Lettuce_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_04_dot_32) + (sliceable Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18) + (sliceable Egg_bar__minus_01_dot_10_bar__plus_00_dot_37_bar__minus_00_dot_63) + (sliceable Bread_bar__plus_02_dot_84_bar__plus_00_dot_83_bar__plus_04_dot_36) + (sliceable Egg_bar__minus_00_dot_42_bar__plus_01_dot_07_bar__plus_00_dot_88) + (sliceable 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CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_02_dot_43_bar__plus_01_dot_04_bar__minus_01_dot_67 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_01_dot_23_bar__plus_01_dot_03_bar__minus_01_dot_99 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_02_dot_34_bar__plus_01_dot_03_bar__plus_01_dot_80 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Lettuce_bar__plus_02_dot_89_bar__plus_01_dot_09_bar__plus_01_dot_20 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Bread_bar__plus_02_dot_84_bar__plus_00_dot_83_bar__plus_04_dot_36 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle PepperShaker_bar__plus_02_dot_54_bar__plus_00_dot_76_bar__plus_03_dot_81 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Glassbottle_bar__plus_02_dot_80_bar__plus_00_dot_77_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Knife_bar__plus_02_dot_33_bar__plus_00_dot_79_bar__plus_04_dot_33 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Mug_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Knife_bar__plus_02_dot_43_bar__plus_00_dot_79_bar__plus_03_dot_74 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bowl_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_04_dot_04 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle SoapBottle_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bowl_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_03_dot_53 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_38_bar__plus_00_dot_82_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_03_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spoon_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_03_dot_48 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle ButterKnife_bar__minus_00_dot_73_bar__plus_00_dot_80_bar__plus_00_dot_78 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62) + (inReceptacle Glassbottle_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_43 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Spoon_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_82 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Ladle_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_02_dot_56 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle PepperShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_06 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_17_bar__plus_01_dot_13_bar__plus_01_dot_82 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle WineBottle_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_01_dot_24 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Egg_bar__minus_00_dot_42_bar__plus_01_dot_07_bar__plus_00_dot_88 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Fork_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_19 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Fork_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__plus_01_dot_84 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95) + (inReceptacle DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_02_dot_37 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42) + (inReceptacle SaltShaker_bar__plus_01_dot_50_bar__plus_00_dot_79_bar__minus_01_dot_68 Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54) + (inReceptacle Knife_bar__plus_02_dot_71_bar__plus_00_dot_83_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27) + (inReceptacle DishSponge_bar__plus_02_dot_23_bar__plus_00_dot_80_bar__plus_01_dot_16 Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04) + (inReceptacle Spatula_bar__plus_01_dot_77_bar__plus_00_dot_82_bar__plus_01_dot_66 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67) + (inReceptacle Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36) + (inReceptacle SaltShaker_bar__minus_00_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_32 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63) + (inReceptacle SoapBottle_bar__plus_02_dot_73_bar__plus_00_dot_03_bar__minus_00_dot_22 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48) + (inReceptacle Plate_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61) + (inReceptacle Pan_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60) + (inReceptacle Cup_bar__minus_00_dot_99_bar__plus_00_dot_78_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Potato_bar__minus_00_dot_99_bar__plus_00_dot_83_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Pan_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Egg_bar__minus_01_dot_10_bar__plus_00_dot_37_bar__minus_00_dot_63 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65) + (inReceptacle Spoon_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_26 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_57 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation 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loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 loc_bar_0_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (receptacleAtLocation 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(receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_26 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+ "x": 2.33667755, + "y": 1.027422, + "z": 1.79764748 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + }, + { + "objectName": "Egg_6cf51d94", + "position": { + "x": -0.4189102, + "y": 1.07150817, + "z": 0.877346039 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_2539b087", + "position": { + "x": 2.70704842, + "y": 0.826551437, + "z": -0.221534073 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_2539b087", + "position": { + "x": 2.42608619, + "y": 0.789819956, + "z": 3.73516369 + }, + "rotation": { + "x": 0.0, + "y": 44.99998, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_a47378fd", + "position": { + "x": 2.626, + "y": 0.7631422, + "z": 3.89578152 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": 2.626, + "y": 0.7629045, + "z": 4.044219 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c2d3cb7a", + "position": { + "x": 1.4956497, + "y": 0.787037134, + "z": -1.67687953 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_26395c85", + "position": { + "x": -1.18738341, + "y": 1.02380621, + "z": 1.05870867 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": 1.35014868, + "y": 1.09497416, + "z": -1.45413828 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_2bc5be8e", + "position": { + "x": 2.89321566, + "y": 1.08503044, + "z": 1.20083356 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_2bc5be8e", + "position": { + "x": 2.59943748, + "y": 0.8226273, + "z": 4.32 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": 2.52521873, + "y": 0.759470344, + "z": 4.495 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": -0.7828089, + "y": 0.86690855, + "z": 1.41482222 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": -0.6459911, + "y": 0.86690855, + "z": 1.57024765 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_c7f7c9bb", + "position": { + "x": -0.968222141, + "y": 1.44172478, + "z": -0.295025021 + }, + "rotation": { + "x": 0.0, + "y": 179.999847, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_105a13ed", + "position": { + "x": 2.801, + "y": 0.765187, + "z": 3.97000027 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Knife_2539b087", + "position": { + "x": 2.331603, + "y": 0.789819956, + "z": 4.32523727 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_a47378fd", + "position": { + "x": 2.73035645, + "y": 0.03124845, + "z": -0.220897436 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_6cf51d94", + "position": { + "x": -1.10164022, + "y": 0.3677001, + "z": -0.6279512 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Fork_8af67485", + "position": { + "x": -0.4484961, + "y": 0.8009228, + "z": 1.84490681 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_a189bfca", + "position": { + "x": -0.987978458, + "y": 0.8282191, + "z": -0.73892504 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Ladle_8232b75a", + "position": { + "x": -0.5442727, + "y": 1.06666756, + "z": 0.600607157 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_6be5e93d", + "position": { + "x": 2.52521873, + "y": 0.8181622, + "z": 3.445 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_267fd2ad", + "position": { + "x": 1.3347, + "y": 0.0235161781, + "z": -1.6704 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_ca02bbc4", + "position": { + "x": -1.13097024, + "y": 1.02842867, + "z": 1.243201 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_1895c9f9", + "position": { + "x": -0.9449924, + "y": 1.7809937, + "z": 2.31207442 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_87bb090b", + "position": { + "x": 2.425116, + "y": 1.04187346, + "z": -1.66760087 + }, + "rotation": { + "x": 0.0, + "y": 269.999817, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_758d0bf4", + "position": { + "x": -1.17108631, + "y": 1.13178539, + "z": 1.82108927 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_2bc5be8e", + "position": { + "x": 2.37678123, + "y": 0.8226273, + "z": 3.97 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": -0.851217866, + "y": 0.86690855, + "z": 1.181684 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c2d3cb7a", + "position": { + "x": -0.5427323, + "y": 0.0443089, + "z": 2.31661677 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_26395c85", + "position": { + "x": 2.542836, + "y": 0.7607765, + "z": 3.810936 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_98253f2a", + "position": { + "x": -0.7319413, + "y": 0.8023382, + "z": 0.777434 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": 2.84062552, + "y": 0.832571, + "z": 4.359626 + }, + "rotation": { + "x": 0.0, + "y": 224.999969, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": -0.98798, + "y": 0.784805, + "z": -0.184050053 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 2.22821856, + "y": 0.801508665, + "z": 1.161839 + }, + "rotation": { + "x": 0.0, + "y": 317.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": 2.79078341, + "y": 0.7629045, + "z": 3.52991724 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": -0.851217866, + "y": 0.8176854, + "z": 1.25939679 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": -0.8038, + "y": 1.07065928, + "z": 0.646000445 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4082683444, + "scene_num": 16 + }, + "task_id": "trial_T20190908_072254_824822", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2871R3LEPWMMK_31JLPPHS2XB63CJS9DQHBQREFXQ3OY", + "high_descs": [ + "Turn around and walk to the counter on the right.", + "Pick up the spoon with the black handle near the edge of the counter.", + "Turn left and hang a left at the wall to face the white table.", + "Put the spoon inside the wooden bowl to the right of the tomato on the table.", + "Pick up the bowl with the spoon on the table.", + "Turn left, hang a left at end of the white table, walk around the angle of the counter and hang a left at the white stove to face the cabinets.", + "Open the far right cabinet, place the bowl with a spoon inside and close the door." + ], + "task_desc": "Place a bowl with a spoon inside a cabinet.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A143XRCI1YXAFE_3QFUFYSY91WXFVP3AOCAY1A61XRF47", + "high_descs": [ + "Turn around 180 degrees and walk to the counter.", + "Pick up the spoon on the counter. ", + "Turn to the left 90 degrees and walk across the room, turning 90 degrees to the left to face the table when you reach it.", + "Place the spoon in the brown cup.", + "Pick up the brown cup with the spoon in it. ", + "Turn to the left 90 degrees, then again after walking to a bit and cross the room, turning another 90 degrees to the left when you reach the end, and walk towards the counter.", + "Put the bowl with the spoon in it into the lower cabinet. " + ], + "task_desc": "Put a bowl with a spoon in it into a cabinet. ", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3FTOP5WARIF46YFW6L5A2IWN7CX0JL", + "high_descs": [ + "turn around to the table", + "pick up the spoon from the table", + "move left to the table ", + "drop the spoon in the plate", + "pick up the plate from the table", + "turn around and move to the cupboard", + "drop the plate in the cupboard" + ], + "task_desc": "drop a plate with a spoon in it in the cupboard", + "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-Watch-Box-CoffeeTable-213/trial_T20190907_100715_338052/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Box-CoffeeTable-213/trial_T20190907_100715_338052/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..111e8b9260f79171747c57daca4060e36ddf50ff --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Box-CoffeeTable-213/trial_T20190907_100715_338052/initial_state.pddl @@ -0,0 +1,614 @@ + +(define (problem plan_trial_T20190907_100715_338052) +(: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__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_01_dot_14 - object + Book_bar__plus_14_dot_25_bar__plus_00_dot_55_bar__plus_01_dot_68 - object + Book_bar__plus_14_dot_43_bar__plus_00_dot_75_bar__plus_00_dot_52 - object + Box_bar__plus_09_dot_60_bar__plus_00_dot_68_bar__plus_03_dot_22 - object + Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_01_dot_56 - object + Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 - object + CreditCard_bar__plus_10_dot_81_bar__plus_00_dot_46_bar__plus_03_dot_01 - object + CreditCard_bar__plus_12_dot_09_bar__plus_00_dot_46_bar__plus_03_dot_01 - object + FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 - object + HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 - object + KeyChain_bar__plus_08_dot_21_bar__plus_00_dot_40_bar__minus_00_dot_02 - object + KeyChain_bar__plus_10_dot_46_bar__plus_00_dot_59_bar__plus_01_dot_05 - object + KeyChain_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_39 - object + Laptop_bar__plus_11_dot_45_bar__plus_00_dot_45_bar__plus_03_dot_08 - object + Laptop_bar__plus_14_dot_24_bar__plus_00_dot_75_bar__plus_02_dot_07 - object + LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 - object + Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 - object + Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 - object + RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_77 - object + Statue_bar__plus_14_dot_14_bar__plus_00_dot_76_bar__plus_01_dot_30 - object + Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 - object + Watch_bar__plus_09_dot_21_bar__plus_00_dot_43_bar__plus_03_dot_07 - object + Watch_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_22 - object + Watch_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_01_dot_24 - object + Watch_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_86 - object + Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 - object + Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 - object + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 - receptacle + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 - receptacle + CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 - receptacle + Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 - receptacle + GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 - receptacle + SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 - receptacle + Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 - receptacle + loc_bar_53_bar_6_bar_1_bar_45 - location + loc_bar_43_bar_8_bar_2_bar_60 - location + loc_bar_52_bar_4_bar_1_bar_45 - location + loc_bar_53_bar_4_bar_1_bar_45 - location + loc_bar_41_bar__minus_4_bar_2_bar_0 - location + loc_bar_52_bar_0_bar_1_bar_45 - location + loc_bar_53_bar_10_bar_1_bar_45 - location + loc_bar_36_bar_3_bar_3_bar_60 - location + loc_bar_38_bar_9_bar_0_bar_60 - location + loc_bar_46_bar_8_bar_0_bar_60 - location + loc_bar_35_bar_4_bar_3_bar_0 - location + loc_bar_52_bar_6_bar_1_bar_45 - location + loc_bar_53_bar_7_bar_1_bar_60 - location + loc_bar_55_bar__minus_1_bar_1_bar_60 - location + loc_bar_51_bar__minus_1_bar_2_bar_60 - location + loc_bar_54_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_3_bar__minus_15 - location + loc_bar_53_bar_3_bar_1_bar_60 - location + loc_bar_53_bar_8_bar_1_bar_45 - location + loc_bar_52_bar_13_bar_0_bar_30 - location + loc_bar_42_bar__minus_3_bar_1_bar_60 - location + loc_bar_32_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_53_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_0_bar_60 - location + loc_bar_47_bar__minus_3_bar_2_bar_0 - location + loc_bar_36_bar_0_bar_3_bar_60 - location + loc_bar_32_bar__minus_3_bar_2_bar_60 - location + loc_bar_35_bar_6_bar_3_bar_60 - location + loc_bar_52_bar_2_bar_1_bar_45 - location + loc_bar_54_bar_5_bar_1_bar_0 - location + loc_bar_36_bar_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 DrawerType) + (receptacleType CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 CoffeeTableType) + (receptacleType SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 SideTableType) + (receptacleType DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 DiningTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 DrawerType) + (receptacleType Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 SofaType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 ArmChairType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 DrawerType) + (receptacleType GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 GarbageCanType) + (receptacleType SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 SideTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 ArmChairType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 DrawerType) + (receptacleType SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 SideTableType) + (receptacleType Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 DresserType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 PaintingType) + (objectType Statue_bar__plus_14_dot_14_bar__plus_00_dot_76_bar__plus_01_dot_30 StatueType) + (objectType Laptop_bar__plus_14_dot_24_bar__plus_00_dot_75_bar__plus_02_dot_07 LaptopType) + (objectType Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 PillowType) + (objectType KeyChain_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_39 KeyChainType) + (objectType FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 FloorLampType) + (objectType KeyChain_bar__plus_10_dot_46_bar__plus_00_dot_59_bar__plus_01_dot_05 KeyChainType) + (objectType Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 ChairType) + (objectType CreditCard_bar__plus_12_dot_09_bar__plus_00_dot_46_bar__plus_03_dot_01 CreditCardType) + (objectType Book_bar__plus_14_dot_43_bar__plus_00_dot_75_bar__plus_00_dot_52 BookType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 PaintingType) + (objectType Book_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_01_dot_14 BookType) + (objectType Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 TelevisionType) + (objectType LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 LightSwitchType) + (objectType KeyChain_bar__plus_08_dot_21_bar__plus_00_dot_40_bar__minus_00_dot_02 KeyChainType) + (objectType HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 HousePlantType) + (objectType RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_77 RemoteControlType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 PaintingType) + (objectType Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 WindowType) + (objectType Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 PaintingType) + (objectType Watch_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_01_dot_24 WatchType) + (objectType Book_bar__plus_14_dot_25_bar__plus_00_dot_55_bar__plus_01_dot_68 BookType) + (objectType Watch_bar__plus_09_dot_21_bar__plus_00_dot_43_bar__plus_03_dot_07 WatchType) + (objectType Watch_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_86 WatchType) + (objectType Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_01_dot_56 BoxType) + (objectType Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 WindowType) + (objectType Box_bar__plus_09_dot_60_bar__plus_00_dot_68_bar__plus_03_dot_22 BoxType) + (objectType CreditCard_bar__plus_10_dot_81_bar__plus_00_dot_46_bar__plus_03_dot_01 CreditCardType) + (objectType Watch_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_22 WatchType) + (objectType Laptop_bar__plus_11_dot_45_bar__plus_00_dot_45_bar__plus_03_dot_08 LaptopType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain 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(canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + 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DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle Watch_bar__plus_09_dot_21_bar__plus_00_dot_43_bar__plus_03_dot_07 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle Box_bar__plus_09_dot_60_bar__plus_00_dot_68_bar__plus_03_dot_22 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle Book_bar__plus_14_dot_43_bar__plus_00_dot_75_bar__plus_00_dot_52 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Statue_bar__plus_14_dot_14_bar__plus_00_dot_76_bar__plus_01_dot_30 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_01_dot_56 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Laptop_bar__plus_14_dot_24_bar__plus_00_dot_75_bar__plus_02_dot_07 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Book_bar__plus_14_dot_25_bar__plus_00_dot_55_bar__plus_01_dot_68 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56) + (inReceptacle KeyChain_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_39 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56) + (inReceptacle Watch_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_86 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_77 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Book_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_01_dot_14 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle KeyChain_bar__plus_10_dot_46_bar__plus_00_dot_59_bar__plus_01_dot_05 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Watch_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_01_dot_24 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle KeyChain_bar__plus_08_dot_21_bar__plus_00_dot_40_bar__minus_00_dot_02 ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08) + (inReceptacle HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16) + + + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 loc_bar_36_bar_3_bar_3_bar_60) + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_43_bar_8_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 loc_bar_38_bar_9_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 loc_bar_52_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 loc_bar_52_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 loc_bar_52_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 loc_bar_52_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 loc_bar_53_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 loc_bar_53_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 loc_bar_53_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 loc_bar_53_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 loc_bar_53_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 loc_bar_53_bar_10_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 loc_bar_54_bar_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 loc_bar_32_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 loc_bar_42_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 loc_bar_51_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 loc_bar_55_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Watch_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_86 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_14_dot_24_bar__plus_00_dot_75_bar__plus_02_dot_07 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_10_dot_46_bar__plus_00_dot_59_bar__plus_01_dot_05 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_12_dot_09_bar__plus_00_dot_46_bar__plus_03_dot_01 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Box_bar__plus_09_dot_60_bar__plus_00_dot_68_bar__plus_03_dot_22 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation Book_bar__plus_11_dot_43_bar__plus_00_dot_59_bar__plus_01_dot_14 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Book_bar__plus_14_dot_25_bar__plus_00_dot_55_bar__plus_01_dot_68 loc_bar_53_bar_8_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_08_dot_21_bar__plus_00_dot_40_bar__minus_00_dot_02 loc_bar_36_bar_0_bar_3_bar_60) + (objectAtLocation Watch_bar__plus_09_dot_40_bar__plus_00_dot_43_bar__plus_03_dot_22 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation Watch_bar__plus_09_dot_21_bar__plus_00_dot_43_bar__plus_03_dot_07 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation Book_bar__plus_14_dot_43_bar__plus_00_dot_75_bar__plus_00_dot_52 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 loc_bar_35_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_01_dot_56 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 loc_bar_32_bar_11_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_10_dot_81_bar__plus_00_dot_46_bar__plus_03_dot_01 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_14_dot_25_bar__plus_00_dot_14_bar__plus_01_dot_39 loc_bar_52_bar_4_bar_1_bar_45) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 loc_bar_32_bar__minus_3_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 loc_bar_32_bar_11_bar_3_bar__minus_15) + (objectAtLocation Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_12_dot_05_bar__plus_00_dot_52_bar__plus_03_dot_23 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_14_dot_14_bar__plus_00_dot_76_bar__plus_01_dot_30 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 loc_bar_52_bar_13_bar_0_bar_30) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 loc_bar_35_bar_4_bar_3_bar_0) + (objectAtLocation Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 loc_bar_54_bar_5_bar_1_bar_0) + (objectAtLocation Laptop_bar__plus_11_dot_45_bar__plus_00_dot_45_bar__plus_03_dot_08 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_77 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Watch_bar__plus_10_dot_85_bar__plus_00_dot_59_bar__plus_01_dot_24 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 loc_bar_42_bar__minus_3_bar_1_bar_60) + (objectAtLocation Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 loc_bar_47_bar__minus_3_bar_2_bar_0) + (objectAtLocation Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 loc_bar_41_bar__minus_4_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CoffeeTableType) + (exists (?o - object) + (and + (objectType ?o WatchType) + (exists (?mo - object) + (and + (objectType ?mo BoxType) + (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-Watch-Box-CoffeeTable-213/trial_T20190907_100715_338052/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Box-CoffeeTable-213/trial_T20190907_100715_338052/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7225993df7b069d9617d49a19cf7921a8c0e19 --- /dev/null +++ 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+ "objectName": "Book_4ab20428", + "position": { + "x": 11.42627, + "y": 0.5914519, + "z": 1.14258671 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_8883cccc", + "position": { + "x": 9.595827, + "y": 0.679692745, + "z": 3.216 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_705a3dcb", + "position": { + "x": 12.0887375, + "y": 0.456995964, + "z": 3.007415 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_7db85c27", + "position": { + "x": 10.4579926, + "y": 0.591835737, + "z": 1.04972029 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_dbd13737", + "position": { + "x": 12.0487576, + "y": 0.52, + "z": 3.22808361 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_1f10aaf1", + "position": { + "x": 14.1357975, + "y": 0.7585794, + "z": 1.30329967 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_4db8f8db", + "position": { + "x": 14.24, + "y": 0.747655, + "z": 2.067 + }, + "rotation": { + "x": 0.0, + "y": 300.000061, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_24c7992d", + "position": { + "x": 11.0389585, + "y": 0.5937072, + "z": 0.771121144 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_fac78eb0", + "position": { + "x": 11.0389585, + "y": 0.591272652, + "z": 0.863987565 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1904481419, + "scene_num": 213 + }, + "task_id": "trial_T20190907_100715_338052", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_37C0GNLMHIKEWYFL26AZ7ZRZLJ9D6N", + "high_descs": [ + "Move to the arm chair closet to the cat tree.", + "Pick up a watch from the arm chair.", + "Move around to the front of the arm chair.", + "Place the watch inside the box on the arm chair.", + "Pick up the box from the arm chair.", + "Move to the coffee table in front of the couch.", + "Place the box on the coffee table." + ], + "task_desc": "Put a box with a watch inside it on the coffee table.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3HHRAGRYXBMSIE88QMRR23U0FTM9OF", + "high_descs": [ + "Turn around and take a step forward, then turn right and walk up to the wall, turn right again to face the red chair.", + "Pick up the watch that is closest to you off of the seat of the red chair. ", + "Turn right and walk around to the front of the red chair that you picked the watch up off of.", + "Put the watch into the cardboard box that is on the seat of the red chair.", + "Pick up the cardboard box with the watch in it.", + "Turn right and begin walking across the room, then hang a right and walk up to the wooden coffee table.", + "Place the cardboard box with the watch inside onto the coffee table to the right of the book." + ], + "task_desc": "Put a cardboard box with a watch inside on a coffee table.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20C7ZLLE41JUO_3VAR3R6G1SIS49PYLULD27ZPVV7O8O", + "high_descs": [ + "Turn around and get between the cat tree and red chair, standing next to the wall on your left and the right arm of the red chair in front of you.", + "Pick up the watch from off the chair that is on the right hand side closer to you.", + "Walk around the red chair nearest the cat tree to stand in front of it.", + "Put the watch into the white box that is on the red chair.", + "Pick up the white box with the watch in it.", + "Turn around and walk to the low wooden coffee table that is in front of the red sofa, sitting on the rug.", + "Put the white box on the coffee table, in between a book and a watch." + ], + "task_desc": "Put a white box with one watch in it on the coffee table.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A1AKL5YH9NLD2V_38BQUHLA9ZH7PYR2FVVW7P0KF49OMX", + "high_descs": [ + "Walk to the left side of the pink chair with two watches on it.", + "Pick up the watch closest to the edge from the pink chair.", + "Walk to the front of the pink chair with a box on it.", + "Place the watch in the box.", + "Pick up the box from the pink chair.", + "Turn around and walk to the wooden table with a book on it.", + "Place the box next to the book on the wooden table." + ], + "task_desc": "Place a box with a watch in it next to the book on the wooden 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-Watch-Box-CoffeeTable-213/trial_T20190907_100736_457719/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Box-CoffeeTable-213/trial_T20190907_100736_457719/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..02e393c61cbeeade1c63c74313d14198d1cad3d8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Box-CoffeeTable-213/trial_T20190907_100736_457719/initial_state.pddl @@ -0,0 +1,594 @@ + +(define (problem plan_trial_T20190907_100736_457719) +(: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 + 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Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 - object + Pillow_bar__plus_10_dot_81_bar__plus_00_dot_53_bar__plus_03_dot_08 - object + RemoteControl_bar__plus_11_dot_45_bar__plus_00_dot_46_bar__plus_03_dot_16 - object + RemoteControl_bar__plus_14_dot_62_bar__plus_00_dot_76_bar__plus_01_dot_56 - object + Statue_bar__plus_14_dot_04_bar__plus_00_dot_76_bar__plus_00_dot_78 - object + Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 - object + Watch_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_01_dot_24 - object + Watch_bar__plus_11_dot_04_bar__plus_00_dot_59_bar__plus_00_dot_77 - object + Watch_bar__plus_12_dot_16_bar__plus_00_dot_60_bar__minus_01_dot_09 - object + Watch_bar__plus_14_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 - object + Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 - object + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 - receptacle + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 - receptacle + CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 - receptacle + Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 - receptacle + GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 - receptacle + SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 - receptacle + Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 - receptacle + loc_bar_53_bar_6_bar_1_bar_45 - location + loc_bar_43_bar_8_bar_2_bar_60 - location + loc_bar_52_bar_4_bar_1_bar_45 - location + loc_bar_53_bar_4_bar_1_bar_45 - location + loc_bar_41_bar__minus_4_bar_2_bar_0 - location + loc_bar_52_bar_0_bar_1_bar_45 - location + loc_bar_53_bar_10_bar_1_bar_45 - location + loc_bar_36_bar_3_bar_3_bar_60 - location + loc_bar_38_bar_9_bar_0_bar_60 - location + loc_bar_46_bar_8_bar_0_bar_60 - location + loc_bar_35_bar_4_bar_3_bar_0 - location + loc_bar_52_bar_6_bar_1_bar_45 - location + loc_bar_53_bar_7_bar_1_bar_60 - location + loc_bar_55_bar__minus_1_bar_1_bar_60 - location + loc_bar_51_bar__minus_1_bar_2_bar_60 - location + loc_bar_54_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_3_bar__minus_15 - location + loc_bar_53_bar_3_bar_1_bar_60 - location + loc_bar_53_bar_8_bar_1_bar_45 - location + loc_bar_52_bar_13_bar_0_bar_30 - location + loc_bar_42_bar__minus_3_bar_1_bar_60 - location + loc_bar_32_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_53_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_0_bar_60 - location + loc_bar_47_bar__minus_3_bar_2_bar_0 - location + loc_bar_36_bar_0_bar_3_bar_60 - location + loc_bar_32_bar__minus_3_bar_2_bar_60 - location + loc_bar_35_bar_6_bar_3_bar_60 - location + loc_bar_52_bar_2_bar_1_bar_45 - location + loc_bar_54_bar_5_bar_1_bar_0 - location + loc_bar_55_bar__minus_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 DrawerType) + (receptacleType CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 CoffeeTableType) + (receptacleType SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 SideTableType) + (receptacleType DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 DiningTableType) + (receptacleType 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RemoteControl_bar__plus_14_dot_62_bar__plus_00_dot_76_bar__plus_01_dot_56 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Watch_bar__plus_14_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 loc_bar_42_bar__minus_3_bar_1_bar_60) + (objectAtLocation Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 loc_bar_47_bar__minus_3_bar_2_bar_0) + (objectAtLocation Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 loc_bar_41_bar__minus_4_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CoffeeTableType) + (exists (?o - object) + (and + (objectType ?o WatchType) + (exists (?mo - object) + (and + (objectType ?mo BoxType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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inside of it on the coffee table.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3GD6L00D3VEMT6K19TXLVTNCLG7M1P", + "high_descs": [ + "turn to the left, make a left at the pink coach and move forward to the coffee table on the left and face the coffee table", + "pick up the watch on the front edge of the table", + "turn around and face the pink chair with a white box sitting on it", + "put the watch inside of the white box", + "pick up the white box with the watch inside of it", + "turn to the right and move to face the coffee table on the right", + "put the white box with the watch inside on the coffee table to the right of the set of keys" + ], + "task_desc": "put a box with a watch inside on the coffee table", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2CT57W84KXX25_3M0BCWMB8YDJBGW7FSWXA32C63KWB0", + "high_descs": [ + "Turn to the left, walk to the pink couch, turn to the coffee table. 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", + "votes": [ + 1, + 0, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_36PW28KO42DKB65OOE2VTMB6HL4AEL", + "high_descs": [ + "Turn to your left and walk to the coffee table.", + "Pick up wrist watch from the coffee table.", + "Walk toward the red chair and stand in front of it.", + "Put the watch in the box sitting on the red chair.", + "Pick up the box from the chair.", + "Turn right and walk back to the coffee table.", + "Set the box on the coffee table." + ], + "task_desc": "Put the watch in a box on the coffee table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PGS1Q1XAY79I_39GHHAVOMI8DKXBZTE3VDZ2YUKD4J0", + "high_descs": [ + "While facing the small black table against the wall, turn and walk towards the door, hang a left and walk to the long side of the coffee table nearest the pink couch.", + "Pick up the wrist watch on the side of the table that is closest to the couch.", + "Turn towards your right and walk to the pink chair with a box on it at the left of the couch as you are facing the couch.", + "Place the watch in the back right corner of the box.", + "Pick up the box from the chair.", + "Turn and walk to the long side of the coffee table nearest the pink couch.", + "Place the box on the table to the right of the keys." + ], + "task_desc": "Put a wrist watch in a box, place the box 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-Watch-Box-CoffeeTable-213/trial_T20190907_100758_815621/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Box-CoffeeTable-213/trial_T20190907_100758_815621/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7896078802dc220263663fb0fb4b941f74b966ef --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Watch-Box-CoffeeTable-213/trial_T20190907_100758_815621/initial_state.pddl @@ -0,0 +1,615 @@ + +(define (problem plan_trial_T20190907_100758_815621) +(: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__plus_10_dot_26_bar__plus_00_dot_59_bar__plus_01_dot_14 - object + Book_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 - object + Box_bar__plus_09_dot_50_bar__plus_00_dot_68_bar__plus_03_dot_22 - object + Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_78 - object + Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_09 - object + Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 - object + CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_14_bar__plus_00_dot_88 - object + CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_75_bar__plus_01_dot_30 - object + CreditCard_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_01_dot_83 - object + FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 - object + HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 - object + KeyChain_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__minus_00_dot_08 - object + KeyChain_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86 - object + KeyChain_bar__plus_14_dot_33_bar__plus_00_dot_76_bar__plus_01_dot_04 - object + Laptop_bar__plus_11_dot_23_bar__plus_00_dot_45_bar__plus_03_dot_08 - object + Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_77 - object + LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 - object + Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 - object + Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 - object + Pillow_bar__plus_10_dot_81_bar__plus_00_dot_53_bar__plus_03_dot_08 - object + RemoteControl_bar__plus_11_dot_66_bar__plus_00_dot_46_bar__plus_03_dot_23 - object + RemoteControl_bar__plus_14_dot_65_bar__plus_00_dot_52_bar__minus_00_dot_90 - object + Statue_bar__plus_12_dot_23_bar__plus_00_dot_61_bar__minus_01_dot_25 - object + Statue_bar__plus_14_dot_62_bar__plus_00_dot_76_bar__plus_00_dot_52 - object + Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 - object + Watch_bar__plus_09_dot_69_bar__plus_00_dot_43_bar__plus_03_dot_22 - object + Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 - object + Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 - object + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 - receptacle + ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 - receptacle + CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 - receptacle + Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 - receptacle + Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 - receptacle + GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 - receptacle + SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 - receptacle + SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 - receptacle + Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 - receptacle + loc_bar_53_bar_6_bar_1_bar_45 - location + loc_bar_43_bar_8_bar_2_bar_60 - location + loc_bar_52_bar_4_bar_1_bar_45 - location + loc_bar_53_bar_4_bar_1_bar_45 - location + loc_bar_41_bar__minus_4_bar_2_bar_0 - location + loc_bar_52_bar_0_bar_1_bar_45 - location + loc_bar_53_bar_10_bar_1_bar_45 - location + loc_bar_36_bar_3_bar_3_bar_60 - location + loc_bar_38_bar_9_bar_0_bar_60 - location + loc_bar_46_bar_8_bar_0_bar_60 - location + loc_bar_35_bar_4_bar_3_bar_0 - location + loc_bar_52_bar_6_bar_1_bar_45 - location + loc_bar_53_bar_7_bar_1_bar_60 - location + loc_bar_55_bar__minus_1_bar_1_bar_60 - location + loc_bar_51_bar__minus_1_bar_2_bar_60 - location + loc_bar_54_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_3_bar__minus_15 - location + loc_bar_53_bar_3_bar_1_bar_60 - location + loc_bar_53_bar_8_bar_1_bar_45 - location + loc_bar_52_bar_13_bar_0_bar_30 - location + loc_bar_42_bar__minus_3_bar_1_bar_60 - location + loc_bar_32_bar__minus_3_bar_3_bar__minus_15 - location + loc_bar_53_bar_5_bar_1_bar_60 - location + loc_bar_32_bar_11_bar_0_bar_60 - location + loc_bar_47_bar__minus_3_bar_2_bar_0 - location + loc_bar_36_bar_0_bar_3_bar_60 - location + loc_bar_32_bar__minus_3_bar_2_bar_60 - location + loc_bar_35_bar_6_bar_3_bar_60 - location + loc_bar_52_bar_2_bar_1_bar_45 - location + loc_bar_54_bar_5_bar_1_bar_0 - location + loc_bar_35_bar_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 DrawerType) + (receptacleType CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 CoffeeTableType) + (receptacleType SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 SideTableType) + (receptacleType DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 DiningTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 DrawerType) + (receptacleType Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 SofaType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 ArmChairType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 DrawerType) + (receptacleType GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 GarbageCanType) + (receptacleType SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 SideTableType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 DrawerType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 DrawerType) + (receptacleType ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 ArmChairType) + (receptacleType Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 DrawerType) + (receptacleType SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 SideTableType) + (receptacleType Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 DresserType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 PaintingType) + (objectType Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_09 BoxType) + (objectType FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 FloorLampType) + (objectType KeyChain_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86 KeyChainType) + (objectType CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_75_bar__plus_01_dot_30 CreditCardType) + (objectType Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 ChairType) + (objectType KeyChain_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__minus_00_dot_08 KeyChainType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 PaintingType) + (objectType CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_14_bar__plus_00_dot_88 CreditCardType) + (objectType RemoteControl_bar__plus_11_dot_66_bar__plus_00_dot_46_bar__plus_03_dot_23 RemoteControlType) + (objectType Laptop_bar__plus_11_dot_23_bar__plus_00_dot_45_bar__plus_03_dot_08 LaptopType) + (objectType Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 TelevisionType) + (objectType LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 LightSwitchType) + (objectType HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 HousePlantType) + (objectType Box_bar__plus_09_dot_50_bar__plus_00_dot_68_bar__plus_03_dot_22 BoxType) + (objectType Statue_bar__plus_14_dot_62_bar__plus_00_dot_76_bar__plus_00_dot_52 StatueType) + (objectType Statue_bar__plus_12_dot_23_bar__plus_00_dot_61_bar__minus_01_dot_25 StatueType) + (objectType Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 PaintingType) + (objectType Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 WindowType) + (objectType Watch_bar__plus_09_dot_69_bar__plus_00_dot_43_bar__plus_03_dot_22 WatchType) + (objectType Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 PaintingType) + (objectType Book_bar__plus_10_dot_26_bar__plus_00_dot_59_bar__plus_01_dot_14 BookType) + (objectType Pillow_bar__plus_10_dot_81_bar__plus_00_dot_53_bar__plus_03_dot_08 PillowType) + (objectType Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_77 LaptopType) + (objectType Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 WindowType) + (objectType KeyChain_bar__plus_14_dot_33_bar__plus_00_dot_76_bar__plus_01_dot_04 KeyChainType) + (objectType Book_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 BookType) + (objectType Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_78 BoxType) + (objectType RemoteControl_bar__plus_14_dot_65_bar__plus_00_dot_52_bar__minus_00_dot_90 RemoteControlType) + (objectType CreditCard_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_01_dot_83 CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DiningTableType BookType) + (canContain DiningTableType WatchType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain DresserType BookType) + (canContain DresserType WatchType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType StatueType) + (pickupable Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_09) + (pickupable KeyChain_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86) + (pickupable CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_75_bar__plus_01_dot_30) + (pickupable KeyChain_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__minus_00_dot_08) + (pickupable CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_14_bar__plus_00_dot_88) + (pickupable RemoteControl_bar__plus_11_dot_66_bar__plus_00_dot_46_bar__plus_03_dot_23) + (pickupable Laptop_bar__plus_11_dot_23_bar__plus_00_dot_45_bar__plus_03_dot_08) + (pickupable Box_bar__plus_09_dot_50_bar__plus_00_dot_68_bar__plus_03_dot_22) + (pickupable Statue_bar__plus_14_dot_62_bar__plus_00_dot_76_bar__plus_00_dot_52) + (pickupable Statue_bar__plus_12_dot_23_bar__plus_00_dot_61_bar__minus_01_dot_25) + (pickupable Watch_bar__plus_09_dot_69_bar__plus_00_dot_43_bar__plus_03_dot_22) + (pickupable Book_bar__plus_10_dot_26_bar__plus_00_dot_59_bar__plus_01_dot_14) + (pickupable Pillow_bar__plus_10_dot_81_bar__plus_00_dot_53_bar__plus_03_dot_08) + (pickupable Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_77) + (pickupable KeyChain_bar__plus_14_dot_33_bar__plus_00_dot_76_bar__plus_01_dot_04) + (pickupable Book_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14) + (pickupable Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_78) + (pickupable RemoteControl_bar__plus_14_dot_65_bar__plus_00_dot_52_bar__minus_00_dot_90) + (pickupable CreditCard_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_01_dot_83) + (isReceptacleObject Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_09) + (isReceptacleObject Box_bar__plus_09_dot_50_bar__plus_00_dot_68_bar__plus_03_dot_22) + (isReceptacleObject Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_78) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56) + (openable Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05) + + (atLocation agent1 loc_bar_35_bar_2_bar_1_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40) + + + + + (inReceptacle Pillow_bar__plus_10_dot_81_bar__plus_00_dot_53_bar__plus_03_dot_08 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle RemoteControl_bar__plus_11_dot_66_bar__plus_00_dot_46_bar__plus_03_dot_23 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Laptop_bar__plus_11_dot_23_bar__plus_00_dot_45_bar__plus_03_dot_08 Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20) + (inReceptacle Watch_bar__plus_09_dot_69_bar__plus_00_dot_43_bar__plus_03_dot_22 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle Box_bar__plus_09_dot_50_bar__plus_00_dot_68_bar__plus_03_dot_22 DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27) + (inReceptacle RemoteControl_bar__plus_14_dot_65_bar__plus_00_dot_52_bar__minus_00_dot_90 SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Statue_bar__plus_14_dot_62_bar__plus_00_dot_76_bar__plus_00_dot_52 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_09 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle KeyChain_bar__plus_14_dot_33_bar__plus_00_dot_76_bar__plus_01_dot_04 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_75_bar__plus_01_dot_30 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_78 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle CreditCard_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_01_dot_83 Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32) + (inReceptacle CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_14_bar__plus_00_dot_88 Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05) + (inReceptacle Statue_bar__plus_12_dot_23_bar__plus_00_dot_61_bar__minus_01_dot_25 SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16) + (inReceptacle Book_bar__plus_10_dot_26_bar__plus_00_dot_59_bar__plus_01_dot_14 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_77 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Book_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle KeyChain_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86 CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle KeyChain_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__minus_00_dot_08 ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08) + (inReceptacle HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16) + + + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__plus_00_dot_77 loc_bar_36_bar_3_bar_3_bar_60) + (receptacleAtLocation ArmChair_bar__plus_08_dot_23_bar__plus_00_dot_00_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_10_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_43_bar_8_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__plus_09_dot_50_bar__minus_00_dot_02_bar__plus_03_dot_27 loc_bar_38_bar_9_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_00_dot_54 loc_bar_52_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_05 loc_bar_52_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_01_dot_56 loc_bar_52_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_19_bar__plus_02_dot_07 loc_bar_52_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_00_dot_54 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_05 loc_bar_53_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_01_dot_56 loc_bar_53_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_39_bar__plus_02_dot_07 loc_bar_53_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_00_dot_54 loc_bar_53_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_05 loc_bar_53_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_01_dot_56 loc_bar_53_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_14_dot_18_bar__plus_00_dot_60_bar__plus_02_dot_07 loc_bar_53_bar_10_bar_1_bar_45) + (receptacleAtLocation Dresser_bar__plus_14_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_32 loc_bar_54_bar_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_07_dot_79_bar__plus_00_dot_00_bar__minus_01_dot_15 loc_bar_32_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_11_dot_38_bar__plus_00_dot_00_bar__minus_01_dot_16 loc_bar_42_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_12_dot_31_bar__plus_00_dot_01_bar__minus_01_dot_16 loc_bar_51_bar__minus_1_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__plus_14_dot_62_bar__plus_00_dot_00_bar__minus_00_dot_78 loc_bar_55_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__plus_11_dot_45_bar__minus_00_dot_07_bar__plus_03_dot_20 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_11_dot_66_bar__plus_00_dot_46_bar__plus_03_dot_23 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_11_dot_23_bar__plus_00_dot_45_bar__plus_03_dot_08 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_14_dot_62_bar__plus_00_dot_76_bar__plus_00_dot_52 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_08_dot_46_bar__plus_00_dot_40_bar__minus_00_dot_08 loc_bar_36_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_14_dot_33_bar__plus_00_dot_75_bar__plus_01_dot_83 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Box_bar__plus_09_dot_50_bar__plus_00_dot_68_bar__plus_03_dot_22 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation Book_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_01_dot_14 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Box_bar__plus_14_dot_23_bar__plus_01_dot_00_bar__plus_00_dot_78 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_75_bar__plus_01_dot_30 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_14_dot_33_bar__plus_00_dot_76_bar__plus_01_dot_04 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Book_bar__plus_10_dot_26_bar__plus_00_dot_59_bar__plus_01_dot_14 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_08_dot_16_bar__plus_00_dot_00_bar__plus_01_dot_50 loc_bar_35_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__plus_14_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_09 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation FloorLamp_bar__plus_07_dot_86_bar__plus_00_dot_00_bar__plus_03_dot_40 loc_bar_32_bar_11_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_14_dot_04_bar__plus_00_dot_14_bar__plus_00_dot_88 loc_bar_52_bar_2_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_10_dot_65_bar__plus_00_dot_59_bar__plus_00_dot_86 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__minus_00_dot_50 loc_bar_32_bar__minus_3_bar_3_bar__minus_15) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_84_bar__plus_02_dot_79 loc_bar_32_bar_11_bar_3_bar__minus_15) + (objectAtLocation Television_bar__plus_14_dot_45_bar__plus_01_dot_24_bar__plus_00_dot_93 loc_bar_54_bar_5_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_10_dot_81_bar__plus_00_dot_53_bar__plus_03_dot_08 loc_bar_46_bar_8_bar_0_bar_60) + (objectAtLocation Statue_bar__plus_12_dot_23_bar__plus_00_dot_61_bar__minus_01_dot_25 loc_bar_51_bar__minus_1_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_12_dot_98_bar__plus_01_dot_40_bar__plus_03_dot_77 loc_bar_52_bar_13_bar_0_bar_30) + (objectAtLocation Painting_bar__plus_07_dot_49_bar__plus_01_dot_78_bar__plus_01_dot_12 loc_bar_35_bar_4_bar_3_bar_0) + (objectAtLocation Painting_bar__plus_14_dot_76_bar__plus_01_dot_75_bar__plus_01_dot_13 loc_bar_54_bar_5_bar_1_bar_0) + (objectAtLocation Laptop_bar__plus_11_dot_23_bar__plus_00_dot_59_bar__plus_00_dot_77 loc_bar_43_bar_8_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__plus_14_dot_65_bar__plus_00_dot_52_bar__minus_00_dot_90 loc_bar_55_bar__minus_1_bar_1_bar_60) + (objectAtLocation Watch_bar__plus_09_dot_69_bar__plus_00_dot_43_bar__plus_03_dot_22 loc_bar_38_bar_9_bar_0_bar_60) + (objectAtLocation HousePlant_bar__plus_11_dot_37_bar__plus_00_dot_48_bar__minus_01_dot_14 loc_bar_42_bar__minus_3_bar_1_bar_60) + (objectAtLocation Window_bar__plus_12_dot_03_bar__plus_01_dot_69_bar__minus_01_dot_60 loc_bar_47_bar__minus_3_bar_2_bar_0) + (objectAtLocation Window_bar__plus_10_dot_23_bar__plus_01_dot_69_bar__minus_01_dot_59 loc_bar_41_bar__minus_4_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CoffeeTableType) + (exists (?o - object) + (and + (objectType ?o WatchType) + (exists (?mo - object) + (and + (objectType ?mo BoxType) + (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-Watch-Box-CoffeeTable-213/trial_T20190907_100758_815621/traj_data.json 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"votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3JBT3HLQFBJP952M9KY54R1J494PZ5", + "high_descs": [ + "Go straight, turn right at the coffee table, go straight to the chair with the box on it.", + "Take the watch to the right of the box from the chair.", + "Go in front of the box on the chair.", + "Put the watch in the box.", + "Take the box from the chair.", + "turn right, go straight, turn right to the coffee table, go to the coffee table.", + "Put the box on the coffee table to the right of the left most book." + ], + "task_desc": "Put a box with a watch in it on a coffee table.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_39PAAFCODPH6SDQJP4IMOVPK593VTG", + "high_descs": [ + "Turn left at coffee table and go to red chair with open box on it.", + "Pick up watch next to the box on the chair.", + "Position self in front of box on chair.", + "Place watch in open box on red chair.", + "Pick up open box with watch in it.", + "Turn around and go to coffee table.", + "Place open box with watch on coffee table, closer to the book on the left and the laptop. The keys and other book should be to the right of the box." + ], + "task_desc": "Putting a watch in a box and moving a box to a table.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3NG53N1RLY0AP91Z0UYSR74F50IP8L", + "high_descs": [ + "Walk towards the table turn left and face the pink couch", + "Pick up the watch on the couch", + "Turn to your left, turn right face the box on the couch", + "Put the watch inside the box", + "Pick up the box on the couch", + "Turn to your right head to the center table ", + "Put the box on the center table" + ], + "task_desc": "Put the watch on the box place it on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1AKL5YH9NLD2V_3OE22WJIGL5TNI9R3AEMN4CE7WEUQX", + "high_descs": [ + "Turn left and walk to the watch on the pink chair.", + "Pick up the watch from the pink chair.", + "Walk to the box on the pink chair.", + "Place the watch into the box on the pink chair.", + "Pick up the box from the pink chair.", + "Turn around and walk to the table in the middle of the room.", + "Place the box to the left of the keys on the table." + ], + "task_desc": "Place a box with a watch in it on the wooden table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3RJSC4XJ13BOEAEDLBCZ0MTGVBX502", + "high_descs": [ + "Turn left and go to the red chair with the cardboard box on it.", + "Pick up the wristwatch from the chair.", + "Move slightly left to face the box.", + "Put the watch into the cardboard box.", + "Pick up the boxed watch.", + "Turn around and go to face the center of the coffee table.", + "Place the box on the center of the coffee table." + ], + "task_desc": "Put a box with a wristwatch in it in the center of a coffee 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-Cloth-None-BathtubBasin-413/trial_T20190908_065418_661400/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-413/trial_T20190908_065418_661400/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6d95a0daa568b0c2ff56450d1ec3613ff182d55c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-413/trial_T20190908_065418_661400/initial_state.pddl @@ -0,0 +1,533 @@ + +(define (problem plan_trial_T20190908_065418_661400) +(: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_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56 - object + Candle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_80 - object + Candle_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__plus_03_dot_12 - object + Cloth_bar__minus_01_dot_24_bar__plus_00_dot_07_bar__plus_00_dot_76 - object + Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_47 - object + Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_97 - object + Faucet_bar__minus_01_dot_87_bar__plus_00_dot_46_bar__plus_00_dot_64 - object + Faucet_bar__minus_01_dot_99_bar__plus_00_dot_95_bar__plus_02_dot_78 - object + Faucet_bar__minus_01_dot_99_bar__plus_00_dot_95_bar__plus_03_dot_47 - object + HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_33_bar__plus_03_dot_62 - object + Mirror_bar__minus_01_dot_99_bar__plus_01_dot_42_bar__plus_03_dot_11 - object + Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_03_dot_89 - object + ScrubBrush_bar__minus_01_dot_66_bar_00_dot_00_bar__plus_03_dot_90 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_12 - object + ShowerHead_bar__plus_00_dot_97_bar__plus_01_dot_22_bar__plus_02_dot_02 - object + Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78 - object + Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47 - object + SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_62_bar__plus_03_dot_79 - object + SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_02_bar__plus_02_dot_22 - object + SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_89 - object + SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_02_dot_64 - object + SprayBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_77 - object + SprayBottle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_93 - object + SprayBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_03_dot_28 - object + ToiletPaper_bar__minus_00_dot_46_bar__plus_00_dot_44_bar__plus_00_dot_16 - object + ToiletPaper_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_96 - object + Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11 - object + Window_bar__minus_01_dot_04_bar__plus_01_dot_39_bar__plus_00_dot_02 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_39_bar__plus_00_dot_71 - object + Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49 - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11 - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14 - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_75 - receptacle + CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_16_bar__plus_03_dot_79 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_42_bar__plus_03_dot_79 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_68_bar__plus_03_dot_79 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_94_bar__plus_03_dot_79 - receptacle + Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77 - receptacle + GarbageCan_bar__minus_01_dot_76_bar__minus_00_dot_02_bar__plus_02_dot_22 - receptacle + HandTowelHolder_bar__minus_01_dot_73_bar__plus_01_dot_44_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_47 - receptacle + Toilet_bar__minus_01_dot_57_bar_00_dot_00_bar__plus_01_dot_82 - receptacle + TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_27_bar__plus_00_dot_00 - receptacle + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar_13_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_3_bar_15 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_12_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_0_bar_30 - location + loc_bar__minus_3_bar_14_bar_3_bar_60 - location + loc_bar__minus_2_bar_3_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_3_bar_60 - location + loc_bar_1_bar_13_bar_0_bar_60 - location + loc_bar__minus_3_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_13_bar_3_bar_60 - location + loc_bar__minus_2_bar_3_bar_3_bar_15 - location + loc_bar__minus_2_bar_3_bar_2_bar_15 - location + loc_bar__minus_1_bar_4_bar_3_bar_45 - location + loc_bar__minus_2_bar_10_bar_3_bar_60 - location + loc_bar_0_bar_2_bar_2_bar_30 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar__minus_1_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_16_bar__plus_03_dot_79 DrawerType) + (receptacleType HandTowelHolder_bar__minus_01_dot_73_bar__plus_01_dot_44_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_76_bar__minus_00_dot_02_bar__plus_02_dot_22 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78_bar_SinkBasin SinkBasinType) + (receptacleType Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77 DresserType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49 CabinetType) + (receptacleType Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47_bar_SinkBasin SinkBasinType) + (receptacleType Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_42_bar__plus_03_dot_79 DrawerType) + (receptacleType CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12 CounterTopType) + (receptacleType Toilet_bar__minus_01_dot_57_bar_00_dot_00_bar__plus_01_dot_82 ToiletType) + (receptacleType TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_27_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_75 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_94_bar__plus_03_dot_79 DrawerType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_47 ToiletPaperHangerType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_68_bar__plus_03_dot_79 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14 CabinetType) + (objectType Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56 BathtubType) + (objectType HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96 HandTowelType) + (objectType SprayBottle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_93 SprayBottleType) + (objectType SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_62_bar__plus_03_dot_79 SoapBarType) + (objectType SprayBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_03_dot_28 SprayBottleType) + (objectType SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_02_dot_64 SoapBottleType) + (objectType Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_97 ClothType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_12 ShowerDoorType) + (objectType Mirror_bar__minus_01_dot_99_bar__plus_01_dot_42_bar__plus_03_dot_11 MirrorType) + (objectType SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_02_bar__plus_02_dot_22 SoapBarType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_33_bar__plus_03_dot_62 LightSwitchType) + (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_03_dot_89 PlungerType) + (objectType Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11 TowelType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_39_bar__plus_00_dot_71 WindowType) + (objectType ToiletPaper_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_96 ToiletPaperType) + (objectType Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47 SinkType) + (objectType Candle_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__plus_03_dot_12 CandleType) + (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_39_bar__plus_00_dot_02 WindowType) + (objectType SprayBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_77 SprayBottleType) + (objectType SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_89 SoapBottleType) + (objectType ToiletPaper_bar__minus_00_dot_46_bar__plus_00_dot_44_bar__plus_00_dot_16 ToiletPaperType) + (objectType ScrubBrush_bar__minus_01_dot_66_bar_00_dot_00_bar__plus_03_dot_90 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78 SinkType) + (objectType Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_47 ClothType) + (objectType Candle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_80 CandleType) + (objectType Cloth_bar__minus_01_dot_24_bar__plus_00_dot_07_bar__plus_00_dot_76 ClothType) + (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 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 SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (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 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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (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 DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType 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) + (pickupable HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96) + (pickupable SprayBottle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_93) + (pickupable SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_62_bar__plus_03_dot_79) + (pickupable SprayBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_03_dot_28) + (pickupable SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_02_dot_64) + (pickupable Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_97) + (pickupable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_02_bar__plus_02_dot_22) + (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_03_dot_89) + (pickupable Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11) + (pickupable ToiletPaper_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_96) + (pickupable Candle_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__plus_03_dot_12) + (pickupable SprayBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_77) + (pickupable SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_89) + (pickupable ToiletPaper_bar__minus_00_dot_46_bar__plus_00_dot_44_bar__plus_00_dot_16) + (pickupable ScrubBrush_bar__minus_01_dot_66_bar_00_dot_00_bar__plus_03_dot_90) + (pickupable Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_47) + (pickupable Candle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_80) + (pickupable Cloth_bar__minus_01_dot_24_bar__plus_00_dot_07_bar__plus_00_dot_76) + + (openable Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11) + (openable Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49) + (openable Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_75) + (openable Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14) + + (atLocation agent1 loc_bar__minus_1_bar_6_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_62_bar__plus_03_dot_79) + (cleanable Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_97) + (cleanable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_02_bar__plus_02_dot_22) + (cleanable Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_47) + (cleanable Cloth_bar__minus_01_dot_24_bar__plus_00_dot_07_bar__plus_00_dot_76) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_02_bar__plus_02_dot_22 GarbageCan_bar__minus_01_dot_76_bar__minus_00_dot_02_bar__plus_02_dot_22) + (inReceptacle SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_89 Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77) + (inReceptacle SprayBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_77 Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77) + (inReceptacle SprayBottle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_93 Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77) + (inReceptacle Candle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_80 Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77) + (inReceptacle Candle_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12) + (inReceptacle Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_47 Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_24_bar__plus_00_dot_07_bar__plus_00_dot_76 Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_97 Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin) + (inReceptacle SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_02_dot_64 Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49) + (inReceptacle SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_62_bar__plus_03_dot_79 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_68_bar__plus_03_dot_79) + (inReceptacle ToiletPaper_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_96 Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11) + (inReceptacle SprayBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_03_dot_28 Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14) + (inReceptacle Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11 TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_27_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_73_bar__plus_01_dot_44_bar__plus_04_dot_00) + + + (receptacleAtLocation Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin loc_bar__minus_1_bar_4_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49 loc_bar__minus_3_bar_13_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11 loc_bar__minus_3_bar_14_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14 loc_bar__minus_3_bar_11_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_75 loc_bar__minus_3_bar_12_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12 loc_bar__minus_4_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_16_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_42_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_68_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_94_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_76_bar__minus_00_dot_02_bar__plus_02_dot_22 loc_bar__minus_3_bar_11_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_73_bar__plus_01_dot_44_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78_bar_SinkBasin loc_bar__minus_5_bar_13_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47_bar_SinkBasin loc_bar__minus_5_bar_12_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_47 loc_bar__minus_5_bar_10_bar_3_bar_60) + (receptacleAtLocation Toilet_bar__minus_01_dot_57_bar_00_dot_00_bar__plus_01_dot_82 loc_bar__minus_2_bar_10_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_27_bar__plus_00_dot_00 loc_bar_0_bar_2_bar_2_bar_30) + (objectAtLocation SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_02_dot_64 loc_bar__minus_3_bar_13_bar_3_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_80 loc_bar_1_bar_13_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_83_bar__plus_00_dot_07_bar__plus_03_dot_28 loc_bar__minus_3_bar_11_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_47 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_02_bar__plus_02_dot_22 loc_bar__minus_3_bar_11_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_77 loc_bar_1_bar_13_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_66_bar__plus_00_dot_07_bar__plus_00_dot_97 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56 loc_bar__minus_2_bar_3_bar_3_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_12 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_99_bar__plus_01_dot_42_bar__plus_03_dot_11 loc_bar__minus_5_bar_12_bar_3_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11 loc_bar_0_bar_2_bar_2_bar_30) + (objectAtLocation HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_30) + (objectAtLocation SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_62_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_46_bar__plus_00_dot_44_bar__plus_00_dot_16 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_02_dot_96 loc_bar__minus_3_bar_14_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_24_bar__plus_00_dot_07_bar__plus_00_dot_76 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_39_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_39_bar__plus_00_dot_71 loc_bar__minus_2_bar_3_bar_3_bar_15) + (objectAtLocation SprayBottle_bar__plus_00_dot_40_bar__plus_01_dot_16_bar__plus_03_dot_93 loc_bar_1_bar_13_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_74_bar__plus_00_dot_77_bar__plus_03_dot_12 loc_bar__minus_4_bar_11_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_01_dot_66_bar_00_dot_00_bar__plus_03_dot_90 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_03_dot_89 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_89 loc_bar_1_bar_13_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_33_bar__plus_03_dot_62 loc_bar_3_bar_14_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (receptacleType ?r BathtubBasinType) + (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-BathtubBasin-413/trial_T20190908_065418_661400/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-413/trial_T20190908_065418_661400/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a69eb9bf4c4ad7844a9c3e652996c091422ea6ed --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-413/trial_T20190908_065418_661400/traj_data.json @@ -0,0 +1,4624 @@ +{ + "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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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_775697e0", + "position": { + "x": 0.40132314, + "y": 1.16040409, + "z": 3.92652535 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_775697e0", + "position": { + "x": 0.303161561, + "y": 1.16426623, + "z": 3.76510787 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_9a0dcc9c", + "position": { + "x": 0.303161561, + "y": 1.16072166, + "z": 3.89424181 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_ff9c436a", + "position": { + "x": -0.07, + "y": 1.284, + "z": 0.1069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_a322ac82", + "position": { + "x": -1.731, + "y": 1.333, + "z": 3.9617 + }, + "rotation": { + "x": 0.0, + "y": -4.78113252e-05, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_84c384be", + "position": { + "x": -1.70388484, + "y": 0.0168782938, + "z": 2.22 + }, + "rotation": { + "x": 0.0, + "y": 6.83018834e-06, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_d73e7170", + "position": { + "x": -0.457497776, + "y": 0.443, + "z": 0.163579524 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_40a19bb4", + "position": { + "x": -1.70092678, + "y": 0.0646615, + "z": 2.96288586 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_27e5b947", + "position": { + "x": -1.66324008, + "y": 0.07402537, + "z": 0.4704004 + }, + "rotation": { + "x": -9.85794353e-21, + "y": 90.0000458, + "z": 1.40334191e-14 + } + }, + { + "objectName": "SprayBottle_775697e0", + "position": { + "x": -1.82739747, + "y": 0.06892097, + "z": 3.28410244 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_7b917d2e", + "position": { + "x": 0.40132314, + "y": 1.16061652, + "z": 3.79739141 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_c9aeeb01", + "position": { + "x": -1.66445529, + "y": -0.00030824542, + "z": 3.89782381 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_fd5a7685", + "position": { + "x": -1.88882077, + "y": -0.0007712394, + "z": 3.88542414 + }, + "rotation": { + "x": -0.00118193, + "y": 0.0004413876, + "z": 0.000780660135 + } + }, + { + "objectName": "SoapBottle_9a0dcc9c", + "position": { + "x": -1.82739747, + "y": 0.06923854, + "z": 2.63748217 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3064537062, + "scene_num": 413 + }, + "task_id": "trial_T20190908_065418_661400", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_39LOEL67OVM3IKWC2W1LE41E0TE83U", + "high_descs": [ + "Turn to the bath tub to your left. ", + "Pick up the rag in front of the drain, in the bath tub. ", + "Turn to your right and go to the first sink on your left. ", + "Place the rag in the sink, turn the water on, clean the rag, turn the water off, and remove the rag from the sink. ", + "Turn to your left and go back to the bath tub across from you. ", + "Place the rag back in the bath tub, far away from the toilet. " + ], + "task_desc": "Put a clean rag in the bath tub.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3FTYUGLFSX2IDUF7XN0UFTDZPG2D5V", + "high_descs": [ + "turn left and head for the tub", + "pick up the rag from the tub", + "turn around and head for the sink", + "wet the rag in the sink and take it out", + "turn around and head to the tub", + "place the rag in the tub" + ], + "task_desc": "place a web rag in the tub", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3VNL7UK1XI0HWG4TPPDI69MYHVPTFW", + "high_descs": [ + "Turn left move few steps and head to the tub", + "Pick up the dirty rag that is closer to you", + "Turn around to the right then head to the sink on your left", + "Put in the dirty rag in the sink and rinse it", + "Turn around to your left then head to the tub", + "Put the clean rag in the left side of the tub" + ], + "task_desc": "Put the clean rag in the tub", + "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-BathtubBasin-413/trial_T20190908_065440_162336/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-413/trial_T20190908_065440_162336/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f44d76f41b0a2f7980176f228d7a585a53239353 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-413/trial_T20190908_065440_162336/initial_state.pddl @@ -0,0 +1,514 @@ + +(define (problem plan_trial_T20190908_065440_162336) +(: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_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56 - object + Candle_bar__minus_00_dot_37_bar__plus_00_dot_45_bar__plus_00_dot_16 - object + Cloth_bar__minus_01_dot_72_bar__plus_00_dot_07_bar__plus_00_dot_34 - object + Faucet_bar__minus_01_dot_87_bar__plus_00_dot_46_bar__plus_00_dot_64 - object + Faucet_bar__minus_01_dot_99_bar__plus_00_dot_95_bar__plus_02_dot_78 - object + Faucet_bar__minus_01_dot_99_bar__plus_00_dot_95_bar__plus_03_dot_47 - object + HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_33_bar__plus_03_dot_62 - object + Mirror_bar__minus_01_dot_99_bar__plus_01_dot_42_bar__plus_03_dot_11 - object + Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_03_dot_89 - object + ScrubBrush_bar__minus_01_dot_66_bar_00_dot_00_bar__plus_03_dot_90 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_12 - object + ShowerHead_bar__plus_00_dot_97_bar__plus_01_dot_22_bar__plus_02_dot_02 - object + Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78 - object + Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47 - object + SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_01_bar__plus_02_dot_19 - object + SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_86 - object + SoapBottle_bar__minus_01_dot_79_bar__plus_00_dot_77_bar__plus_03_dot_15 - object + SoapBottle_bar__minus_01_dot_82_bar__plus_00_dot_07_bar__plus_03_dot_00 - object + SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_16_bar__plus_03_dot_93 - object + SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_77_bar__plus_02_dot_49 - object + SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_07_bar__plus_03_dot_36 - object + ToiletPaper_bar__plus_00_dot_01_bar__plus_01_dot_16_bar__plus_03_dot_83 - object + ToiletPaper_bar__minus_00_dot_46_bar__plus_00_dot_44_bar__plus_00_dot_20 - object + Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11 - object + Window_bar__minus_01_dot_04_bar__plus_01_dot_39_bar__plus_00_dot_02 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_39_bar__plus_00_dot_71 - object + Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49 - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11 - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14 - receptacle + Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_75 - receptacle + CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_16_bar__plus_03_dot_79 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_42_bar__plus_03_dot_79 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_68_bar__plus_03_dot_79 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_94_bar__plus_03_dot_79 - receptacle + Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77 - receptacle + GarbageCan_bar__minus_01_dot_76_bar__minus_00_dot_02_bar__plus_02_dot_22 - receptacle + HandTowelHolder_bar__minus_01_dot_73_bar__plus_01_dot_44_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_47 - receptacle + Toilet_bar__minus_01_dot_57_bar_00_dot_00_bar__plus_01_dot_82 - receptacle + TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_27_bar__plus_00_dot_00 - receptacle + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar_13_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_3_bar_15 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_12_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_0_bar_30 - location + loc_bar__minus_3_bar_14_bar_3_bar_60 - location + loc_bar__minus_2_bar_3_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_3_bar_60 - location + loc_bar_1_bar_13_bar_0_bar_60 - location + loc_bar__minus_3_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_13_bar_3_bar_60 - location + loc_bar__minus_2_bar_3_bar_3_bar_15 - location + loc_bar__minus_2_bar_3_bar_2_bar_15 - location + loc_bar__minus_1_bar_4_bar_3_bar_45 - location + loc_bar__minus_2_bar_10_bar_3_bar_60 - location + loc_bar_0_bar_2_bar_2_bar_30 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar__minus_3_bar_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_16_bar__plus_03_dot_79 DrawerType) + (receptacleType HandTowelHolder_bar__minus_01_dot_73_bar__plus_01_dot_44_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_76_bar__minus_00_dot_02_bar__plus_02_dot_22 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78_bar_SinkBasin SinkBasinType) + (receptacleType Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77 DresserType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49 CabinetType) + (receptacleType Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47_bar_SinkBasin SinkBasinType) + (receptacleType Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_42_bar__plus_03_dot_79 DrawerType) + (receptacleType CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12 CounterTopType) + (receptacleType Toilet_bar__minus_01_dot_57_bar_00_dot_00_bar__plus_01_dot_82 ToiletType) + (receptacleType TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_27_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_75 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_94_bar__plus_03_dot_79 DrawerType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_47 ToiletPaperHangerType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_68_bar__plus_03_dot_79 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14 CabinetType) + (objectType Cloth_bar__minus_01_dot_72_bar__plus_00_dot_07_bar__plus_00_dot_34 ClothType) + (objectType SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_07_bar__plus_03_dot_36 SprayBottleType) + (objectType ToiletPaper_bar__minus_00_dot_46_bar__plus_00_dot_44_bar__plus_00_dot_20 ToiletPaperType) + (objectType Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56 BathtubType) + (objectType HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96 HandTowelType) + (objectType Mirror_bar__minus_01_dot_99_bar__plus_01_dot_42_bar__plus_03_dot_11 MirrorType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_12 ShowerDoorType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_33_bar__plus_03_dot_62 LightSwitchType) + (objectType Candle_bar__minus_00_dot_37_bar__plus_00_dot_45_bar__plus_00_dot_16 CandleType) + (objectType SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_86 SoapBottleType) + (objectType SoapBottle_bar__minus_01_dot_79_bar__plus_00_dot_77_bar__plus_03_dot_15 SoapBottleType) + (objectType Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_03_dot_89 PlungerType) + (objectType Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11 TowelType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_39_bar__plus_00_dot_71 WindowType) + (objectType ToiletPaper_bar__plus_00_dot_01_bar__plus_01_dot_16_bar__plus_03_dot_83 ToiletPaperType) + (objectType SoapBottle_bar__minus_01_dot_82_bar__plus_00_dot_07_bar__plus_03_dot_00 SoapBottleType) + (objectType Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47 SinkType) + (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_39_bar__plus_00_dot_02 WindowType) + (objectType SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_01_bar__plus_02_dot_19 SoapBarType) + (objectType SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_16_bar__plus_03_dot_93 SprayBottleType) + (objectType ScrubBrush_bar__minus_01_dot_66_bar_00_dot_00_bar__plus_03_dot_90 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78 SinkType) + (objectType SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_77_bar__plus_02_dot_49 SprayBottleType) + (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 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 SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain DresserType CandleType) + (canContain DresserType SprayBottleType) + (canContain DresserType ToiletPaperType) + (canContain DresserType ClothType) + (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 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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (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 DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType 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) + (pickupable Cloth_bar__minus_01_dot_72_bar__plus_00_dot_07_bar__plus_00_dot_34) + (pickupable SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_07_bar__plus_03_dot_36) + (pickupable ToiletPaper_bar__minus_00_dot_46_bar__plus_00_dot_44_bar__plus_00_dot_20) + (pickupable HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96) + (pickupable Candle_bar__minus_00_dot_37_bar__plus_00_dot_45_bar__plus_00_dot_16) + (pickupable SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_86) + (pickupable SoapBottle_bar__minus_01_dot_79_bar__plus_00_dot_77_bar__plus_03_dot_15) + (pickupable Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_03_dot_89) + (pickupable Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11) + (pickupable ToiletPaper_bar__plus_00_dot_01_bar__plus_01_dot_16_bar__plus_03_dot_83) + (pickupable SoapBottle_bar__minus_01_dot_82_bar__plus_00_dot_07_bar__plus_03_dot_00) + (pickupable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_01_bar__plus_02_dot_19) + (pickupable SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_16_bar__plus_03_dot_93) + (pickupable ScrubBrush_bar__minus_01_dot_66_bar_00_dot_00_bar__plus_03_dot_90) + (pickupable SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_77_bar__plus_02_dot_49) + + (openable Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11) + (openable Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49) + (openable Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_75) + (openable Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14) + + (atLocation agent1 loc_bar__minus_3_bar_5_bar_1_bar_30) + + (cleanable Cloth_bar__minus_01_dot_72_bar__plus_00_dot_07_bar__plus_00_dot_34) + (cleanable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_01_bar__plus_02_dot_19) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_01_bar__plus_02_dot_19 GarbageCan_bar__minus_01_dot_76_bar__minus_00_dot_02_bar__plus_02_dot_22) + (inReceptacle ToiletPaper_bar__plus_00_dot_01_bar__plus_01_dot_16_bar__plus_03_dot_83 Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77) + (inReceptacle SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_16_bar__plus_03_dot_93 Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77) + (inReceptacle SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_86 Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77) + (inReceptacle SoapBottle_bar__minus_01_dot_79_bar__plus_00_dot_77_bar__plus_03_dot_15 CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12) + (inReceptacle SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_77_bar__plus_02_dot_49 CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12) + (inReceptacle Cloth_bar__minus_01_dot_72_bar__plus_00_dot_07_bar__plus_00_dot_34 Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin) + (inReceptacle SoapBottle_bar__minus_01_dot_82_bar__plus_00_dot_07_bar__plus_03_dot_00 Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11) + (inReceptacle SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_07_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14) + (inReceptacle Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11 TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_27_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_73_bar__plus_01_dot_44_bar__plus_04_dot_00) + + + (receptacleAtLocation Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56_bar_BathtubBasin loc_bar__minus_1_bar_4_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_49 loc_bar__minus_3_bar_13_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_11 loc_bar__minus_3_bar_14_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_14 loc_bar__minus_3_bar_11_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_03_dot_75 loc_bar__minus_3_bar_12_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__plus_03_dot_12 loc_bar__minus_4_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_16_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_42_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_68_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_94_bar__plus_03_dot_79 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation Dresser_bar__plus_00_dot_21_bar__plus_00_dot_81_bar__plus_03_dot_77 loc_bar_1_bar_13_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_76_bar__minus_00_dot_02_bar__plus_02_dot_22 loc_bar__minus_3_bar_11_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_73_bar__plus_01_dot_44_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78_bar_SinkBasin loc_bar__minus_5_bar_13_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47_bar_SinkBasin loc_bar__minus_5_bar_12_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_47 loc_bar__minus_5_bar_10_bar_3_bar_60) + (receptacleAtLocation Toilet_bar__minus_01_dot_57_bar_00_dot_00_bar__plus_01_dot_82 loc_bar__minus_2_bar_10_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_27_bar__plus_00_dot_00 loc_bar_0_bar_2_bar_2_bar_30) + (objectAtLocation SoapBottle_bar__minus_01_dot_82_bar__plus_00_dot_07_bar__plus_03_dot_00 loc_bar__minus_3_bar_14_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_07_bar__plus_03_dot_36 loc_bar__minus_3_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_30_bar__plus_01_dot_16_bar__plus_03_dot_86 loc_bar_1_bar_13_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_09_bar__plus_01_dot_16_bar__plus_03_dot_93 loc_bar_1_bar_13_bar_0_bar_60) + (objectAtLocation Bathtub_bar__minus_01_dot_41_bar_00_dot_00_bar__plus_00_dot_56 loc_bar__minus_2_bar_3_bar_3_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_12 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_99_bar__plus_01_dot_42_bar__plus_03_dot_11 loc_bar__minus_5_bar_12_bar_3_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_02_dot_78 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_83_bar__plus_00_dot_69_bar__plus_03_dot_47 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_07_bar__plus_01_dot_28_bar__plus_00_dot_11 loc_bar_0_bar_2_bar_2_bar_30) + (objectAtLocation HandTowel_bar__minus_01_dot_73_bar__plus_01_dot_33_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_30) + (objectAtLocation SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_01_bar__plus_02_dot_19 loc_bar__minus_3_bar_11_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_01_bar__plus_01_dot_16_bar__plus_03_dot_83 loc_bar_1_bar_13_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_46_bar__plus_00_dot_44_bar__plus_00_dot_20 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_72_bar__plus_00_dot_07_bar__plus_00_dot_34 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_39_bar__plus_00_dot_02 loc_bar__minus_2_bar_3_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_39_bar__plus_00_dot_71 loc_bar__minus_2_bar_3_bar_3_bar_15) + (objectAtLocation SprayBottle_bar__minus_01_dot_70_bar__plus_00_dot_77_bar__plus_02_dot_49 loc_bar__minus_4_bar_11_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_37_bar__plus_00_dot_45_bar__plus_00_dot_16 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_01_dot_66_bar_00_dot_00_bar__plus_03_dot_90 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_89_bar_00_dot_00_bar__plus_03_dot_89 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_79_bar__plus_00_dot_77_bar__plus_03_dot_15 loc_bar__minus_4_bar_11_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_33_bar__plus_03_dot_62 loc_bar_3_bar_14_bar_1_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (receptacleType ?r BathtubBasinType) + (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-BathtubBasin-413/trial_T20190908_065440_162336/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-413/trial_T20190908_065440_162336/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..b11f758c27eb1e0b263bb6b3a54d6c00da4f2f6d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-BathtubBasin-413/trial_T20190908_065440_162336/traj_data.json @@ -0,0 +1,4356 @@ +{ + "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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+ "assignment_id": "A3F7G1FSFWQPLE_3A9AA95ATZ3R2RIX2WRPFNUO3YN5PH", + "high_descs": [ + "Walk forward, then turn right and walk over to the tub.", + "Pick up the dirty black rag out of the tub.", + "Turn right and walk towards the wall, the hang a left and walk up to the left sink.", + "Put the dirty black rag in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean rag.", + "Walk back over to the tub.", + "Put the clean rag in the tub." + ], + "task_desc": "Put a clean rag in the tub.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3R08VXYT7FCW94TH2BKH51GGN0Q7WW", + "high_descs": [ + "Turn around to face the tub.", + "Pick up the dirty black rag in the tub. ", + "Bring the rag to the left sink next to the toilet. ", + "Wash the rag in the left sink. ", + "Bring the rag back to the tub on the left.", + "Put the rag in the tub. " + ], + "task_desc": "Put a cleaned rag in the tub. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3VHP9MDGRQ10AZ2I33ISHZMUT98FCI", + "high_descs": [ + "move to the tub to the right", + "pick up a rag from the tub", + "move to the sink to the right", + "clean the rag in the sink", + "move to the sink to the left of you", + "put the rag in the tub" + ], + "task_desc": "Put a cleaned rag in the tub.", + "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-DishSponge-None-BathtubBasin-403/trial_T20190908_033323_791635/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033323_791635/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c16fd7040ef443a277eeb7b74f81a1dd260fbc84 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033323_791635/initial_state.pddl @@ -0,0 +1,524 @@ + +(define (problem plan_trial_T20190908_033323_791635) +(: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_63_bar__plus_01_dot_07_bar__plus_00_dot_27 - object + Candle_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_16 - object + Candle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_30 - object + Cloth_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_22 - object + DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_35 - 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_02_bar__plus_00_dot_70_bar__plus_01_dot_47 - 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_76_bar__plus_00_dot_05_bar__plus_03_dot_22 - object + SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_11_bar__plus_03_dot_06 - object + SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_18 - object + SoapBottle_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_02 - object + SprayBottle_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_42 - object + SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_43 - object + ToiletPaper_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_22 - object + ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_05_bar__plus_03_dot_36 - object + ToiletPaper_bar__minus_01_dot_17_bar__plus_00_dot_05_bar__plus_03_dot_16 - 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_0_bar_4_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 SprayBottle_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_42 SprayBottleType) + (objectType SprayBottle_bar__minus_02_dot_61_bar__plus_00_dot_60_bar__plus_01_dot_43 SprayBottleType) + (objectType PaperTowelRoll_bar__minus_03_dot_02_bar__plus_00_dot_70_bar__plus_01_dot_47 PaperTowelRollType) + (objectType Candle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_30 CandleType) + (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType) + (objectType Cloth_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_22 ClothType) + (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType) + (objectType ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_05_bar__plus_03_dot_36 ToiletPaperType) + (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType) + (objectType SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_18 SoapBottleType) + (objectType DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_35 DishSpongeType) + (objectType ToiletPaper_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_22 ToiletPaperType) + (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType) + (objectType SoapBar_bar__minus_01_dot_76_bar__plus_00_dot_05_bar__plus_03_dot_22 SoapBarType) + (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 Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType) + (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 SoapBottle_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_02 SoapBottleType) + (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_01_dot_17_bar__plus_00_dot_05_bar__plus_03_dot_16 ToiletPaperType) + (objectType Candle_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_16 CandleType) + (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 SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_11_bar__plus_03_dot_06 SoapBottleType) + (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType) + (objectType Candle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_27 CandleType) + (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 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Candle_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_16) + (pickupable Towel_bar__plus_00_dot_40_bar__plus_01_dot_39_bar__plus_03_dot_36) + (pickupable SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_11_bar__plus_03_dot_06) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35) + (pickupable Candle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_27) + + (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_0_bar_4_bar_0_bar_30) + + (cleanable Cloth_bar__minus_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_22) + (cleanable DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_35) + (cleanable 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Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle Cloth_bar__minus_01_dot_00_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 SoapBottle_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_02 Cabinet_bar__minus_02_dot_42_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle ToiletPaper_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_22 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 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 PaperTowelRoll_bar__minus_03_dot_02_bar__plus_00_dot_70_bar__plus_01_dot_47 Shelf_bar__minus_02_dot_93_bar__plus_00_dot_59_bar__plus_01_dot_43) + (inReceptacle SprayBottle_bar__minus_02_dot_61_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 Candle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_30 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 SprayBottle_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_42 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + (inReceptacle Candle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_27 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_89_bar__plus_01_dot_07_bar__plus_00_dot_42 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_16 loc_bar__minus_8_bar_6_bar_2_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_01_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_18 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_17_bar__plus_00_dot_05_bar__plus_03_dot_16 loc_bar__minus_6_bar_8_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__plus_03_dot_02 loc_bar__minus_7_bar_8_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_63_bar__plus_01_dot_07_bar__plus_00_dot_27 loc_bar_1_bar_3_bar_3_bar_60) + (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_76_bar__plus_00_dot_05_bar__plus_03_dot_22 loc_bar__minus_5_bar_8_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_22 loc_bar_0_bar_11_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_45_bar__plus_01_dot_11_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45) + (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_53_bar__plus_00_dot_05_bar__plus_03_dot_36 loc_bar__minus_4_bar_8_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_03_dot_02_bar__plus_00_dot_70_bar__plus_01_dot_47 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_01_dot_00_bar__plus_00_dot_06_bar__plus_03_dot_22 loc_bar__minus_6_bar_8_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_30 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_19_bar__plus_00_dot_60_bar__plus_00_dot_35 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_61_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 (?o - object) + (and + (cleanable ?o) + (objectType ?o DishSpongeType) + (receptacleType ?r BathtubBasinType) + (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-DishSponge-None-BathtubBasin-403/trial_T20190908_033323_791635/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033323_791635/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..deb27dac51a9617516798e6fb003c78f86f3e2bb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033323_791635/traj_data.json @@ -0,0 +1,3873 @@ +{ + "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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", + "Pick up the sponge on the tub. ", + "Turn around, bring the the sponge to the left sink.", + "Wash the sponge in the sink. ", + "Turn around with the cleaned sponge and head to the tub. ", + "Put the cleaned sponge in the tub. " + ], + "task_desc": "Put a cleaned sponge in the tub. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3WAKVUDHUZXJH04C7B5GNDVJ2BCU7Z", + "high_descs": [ + "Turn left, walk to tub, turn left.", + "Pick up green sponge from far end of tub ledge.", + "Turn around, go to sink across room.", + "Put sponge in left side of sink, turn water on, turn water off, drain water. Pick up sponge.", + "Turn around, go to center of tub.", + "Put sponge in tub, behind and slightly to right of candlestick." + ], + "task_desc": "Wash sponge and place in tub.", + "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-DishSponge-None-BathtubBasin-403/trial_T20190908_033349_122378/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033349_122378/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f94451948f09fcd55e55c59ed83b0b031d8d40e1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033349_122378/initial_state.pddl @@ -0,0 +1,532 @@ + +(define (problem plan_trial_T20190908_033349_122378) +(: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_80_bar__plus_00_dot_60_bar__plus_01_dot_18 - object + Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_03_dot_09 - object + Cloth_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_82 - object + Cloth_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_22 - object + Cloth_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_73 - object + DishSponge_bar__minus_01_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 - 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_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_36 - 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_13_bar__plus_00_dot_07_bar__plus_03_dot_19 - object + SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_43 - object + SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_27 - object + SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_18 - object + SprayBottle_bar__minus_00_dot_47_bar__plus_00_dot_06_bar__plus_03_dot_02 - object + SprayBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_34 - object + SprayBottle_bar__minus_03_dot_02_bar__plus_00_dot_60_bar__plus_01_dot_51 - object + ToiletPaper_bar__minus_00_dot_14_bar__plus_00_dot_06_bar__plus_03_dot_30 - object + ToiletPaper_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 - 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__minus_1_bar_5_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 ToiletPaper_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35 ToiletPaperType) + (objectType PaperTowelRoll_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_36 PaperTowelRollType) + (objectType SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_27 SoapBottleType) + (objectType Cloth_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_73 ClothType) + (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_00_dot_47_bar__plus_00_dot_06_bar__plus_03_dot_02 SprayBottleType) + (objectType Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49 PlungerType) + (objectType SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_18 SoapBottleType) + (objectType ShowerGlass_bar__minus_02_dot_90_bar__plus_01_dot_42_bar__plus_02_dot_34 ShowerGlassType) + (objectType SprayBottle_bar__minus_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_34 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 Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType) + (objectType Cloth_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_22 ClothType) + (objectType Mirror_bar__minus_01_dot_39_bar__plus_01_dot_60_bar__plus_03_dot_46 MirrorType) + (objectType DishSponge_bar__minus_01_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 DishSpongeType) + (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 Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_03_dot_09 CandleType) + (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 SprayBottle_bar__minus_03_dot_02_bar__plus_00_dot_60_bar__plus_01_dot_51 SprayBottleType) + (objectType SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_43 SoapBarType) + (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_82 ClothType) + (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_60_bar__plus_01_dot_18 CandleType) + (objectType SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_19 SoapBarType) + (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 ToiletPaper_bar__minus_01_dot_27_bar__plus_00_dot_60_bar__plus_00_dot_35) + (pickupable PaperTowelRoll_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_36) + (pickupable SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_27) + (pickupable Cloth_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_73) + (pickupable SprayBottle_bar__minus_00_dot_47_bar__plus_00_dot_06_bar__plus_03_dot_02) + (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49) + (pickupable 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SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_43) + (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_82) + (cleanable SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_19) + + + + + + + + + + + (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 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 DishSponge_bar__minus_01_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle Cloth_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_22 Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle SprayBottle_bar__minus_00_dot_47_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 Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_03_dot_09 Cabinet_bar__minus_02_dot_42_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 SoapBar_bar__minus_00_dot_13_bar__plus_00_dot_07_bar__plus_03_dot_19 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 Cloth_bar__minus_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_82 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_02_dot_29_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 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 SoapBar_bar__minus_03_dot_12_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 SprayBottle_bar__minus_02_dot_71_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 SprayBottle_bar__minus_03_dot_02_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 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 SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_27 Toilet_bar__minus_00_dot_70_bar__plus_00_dot_03_bar__plus_00_dot_66) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_36 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_02_dot_71_bar__plus_00_dot_60_bar__plus_01_dot_34 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_12_bar__plus_00_dot_05_bar__plus_03_dot_09 loc_bar__minus_7_bar_8_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_70_bar__plus_00_dot_06_bar__plus_03_dot_22 loc_bar__minus_5_bar_8_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 SoapBottle_bar__minus_01_dot_30_bar__plus_00_dot_60_bar__plus_01_dot_18 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_03_dot_12_bar__plus_00_dot_60_bar__plus_01_dot_43 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_47_bar__plus_00_dot_06_bar__plus_03_dot_02 loc_bar__minus_4_bar_8_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_29_bar__plus_00_dot_11_bar__plus_00_dot_73 loc_bar__minus_8_bar_6_bar_2_bar_60) + (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_13_bar__plus_00_dot_07_bar__plus_03_dot_19 loc_bar_0_bar_11_bar_0_bar_60) + (objectAtLocation ToiletPaper_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 SoapBottle_bar__minus_00_dot_69_bar__plus_01_dot_07_bar__plus_00_dot_27 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_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_86_bar__plus_01_dot_36_bar__plus_02_dot_86 loc_bar_1_bar_11_bar_1_bar_30) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_82_bar__plus_01_dot_18_bar__plus_00_dot_36 loc_bar_1_bar_3_bar_3_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_01_dot_64_bar__plus_00_dot_11_bar__plus_00_dot_82 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_60_bar__plus_01_dot_18 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_34_bar__plus_01_dot_11_bar__plus_03_dot_21 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_03_dot_02_bar__plus_00_dot_60_bar__plus_01_dot_51 loc_bar__minus_8_bar_6_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o DishSpongeType) + (receptacleType ?r BathtubBasinType) + (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-DishSponge-None-BathtubBasin-403/trial_T20190908_033349_122378/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033349_122378/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9d9d3345e521d19bfc7bb5b0e0b1650e60a0b87b --- /dev/null +++ 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"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": -1.70494044, + "y": 0.05983019, + "z": 3.223844 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_0619d5dc", + "position": { + "x": -2.1213665, + "y": 0.05311811, + "z": 3.08840561 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_22e0124b", + "position": { + "x": -1.337987, + "y": 1.106047, + "z": 3.21486378 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_41ba80d1", + "position": { + "x": -2.710073, + "y": 0.599911869, + "z": 1.34286439 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3021219660, + "scene_num": 403 + }, + "task_id": "trial_T20190908_033349_122378", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_388U7OUMFAIDJXCBIIP23NYCNY5R0V", + "high_descs": [ + "Turn to the left and walk across the room to face the sink.", + "Pick up the sponge on the sink.", + "Take a step to the left to face the left side sink.", + "Wash the sponge in the sink and pick it back up.", + "Turn around and walk forward to face the bath tub.", + "Place the sponge in the bath tub." + ], + "task_desc": "To wash a sponge in the sink as well as place the sponge in the bath tub.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3MB8LZR5BIA4TPO2HR2O0V4MV4HLK0", + "high_descs": [ + "Turn left and walk to the sponge on the counter between the two sinks.", + "Pick up the sponge from the counter.", + "Walk to the sink on the left.", + "Put the sponge in the sink, rinse it off, and take it out of the sink.", + "Turn around and walk forward to the bath tub.", + "Put the sponge in the bath tub basin." + ], + "task_desc": "Put a cleaned sponge in a bath tub.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3VD82FOHKT5UGCFB261I4TV8L1KCO4", + "high_descs": [ + "Turn around, move to the sink on the right.", + "Pick up the sponge from the counter, next to the sink. ", + "Bring the sponge to the left sink. ", + "Wash the sponge in the left sink. ", + "Turn around with the washed sponge, move forward to the tub. ", + "Put the sponge in the tub. " + ], + "task_desc": "Put a cleaned sponge in the tub. ", + "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-DishSponge-None-BathtubBasin-403/trial_T20190908_033408_258211/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033408_258211/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..20c7855b98480ed397135006d4206daaabe00d5d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033408_258211/initial_state.pddl @@ -0,0 +1,544 @@ + +(define (problem plan_trial_T20190908_033408_258211) +(: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_32_bar__plus_01_dot_10_bar__plus_03_dot_37 - object + Candle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_51 - object + Cloth_bar__minus_02_dot_29_bar__plus_00_dot_06_bar__plus_03_dot_29 - object + Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_63 - object + Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 - object + DishSponge_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 - object + DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_86 - object + DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_98 - object + DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 - 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_02_dot_41_bar__plus_01_dot_21_bar__plus_02_dot_91 - 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_48_bar__plus_00_dot_05_bar__plus_03_dot_29 - object + SoapBar_bar__minus_01_dot_50_bar__plus_01_dot_10_bar__plus_03_dot_06 - object + SoapBottle_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_13 - object + SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_06_bar__plus_03_dot_29 - object + SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_47 - object + ToiletPaper_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_29 - object + ToiletPaper_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_30 - object + ToiletPaper_bar__minus_02_dot_13_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__minus_2_bar_8_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 DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_98 DishSpongeType) + (objectType Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_30 ToiletPaperType) + (objectType ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_10 ToiletPaperType) + (objectType Candle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_51 CandleType) + (objectType PaperTowelRoll_bar__minus_02_dot_41_bar__plus_01_dot_21_bar__plus_02_dot_91 PaperTowelRollType) + (objectType SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_47 SprayBottleType) + (objectType SoapBar_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_03_dot_29 SoapBarType) + (objectType Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72 BathtubType) + (objectType ToiletPaper_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_29 ToiletPaperType) + (objectType ShowerDoor_bar__minus_02_dot_48_bar__plus_01_dot_77_bar__plus_02_dot_39 ShowerDoorType) + (objectType Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_63 ClothType) + (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 Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86 TowelType) + (objectType SoapBottle_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_13 SoapBottleType) + (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 SoapBar_bar__minus_01_dot_50_bar__plus_01_dot_10_bar__plus_03_dot_06 SoapBarType) + (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 Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_37 CandleType) + (objectType DishSponge_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30 DishSpongeType) + (objectType SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_06_bar__plus_03_dot_29 SoapBottleType) + (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 Cloth_bar__minus_02_dot_29_bar__plus_00_dot_06_bar__plus_03_dot_29 ClothType) + (objectType ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35 ScrubBrushType) + (objectType DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_86 DishSpongeType) + (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_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_98) + (pickupable Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73) + (pickupable ToiletPaper_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_30) + (pickupable ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_10) + (pickupable Candle_bar__minus_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_51) + (pickupable PaperTowelRoll_bar__minus_02_dot_41_bar__plus_01_dot_21_bar__plus_02_dot_91) + (pickupable SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_47) + (pickupable SoapBar_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_03_dot_29) + (pickupable ToiletPaper_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_29) + (pickupable Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_63) + (pickupable Plunger_bar__minus_00_dot_22_bar__plus_00_dot_03_bar__plus_00_dot_49) + (pickupable Towel_bar__plus_00_dot_86_bar__plus_01_dot_36_bar__plus_02_dot_86) + (pickupable SoapBottle_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_13) + (pickupable SoapBar_bar__minus_01_dot_50_bar__plus_01_dot_10_bar__plus_03_dot_06) + (pickupable HandTowel_bar__minus_00_dot_24_bar__plus_01_dot_76_bar__plus_03_dot_43) + (pickupable Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_37) + (pickupable DishSponge_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30) + (pickupable SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_06_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 Cloth_bar__minus_02_dot_29_bar__plus_00_dot_06_bar__plus_03_dot_29) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar__plus_00_dot_03_bar__plus_00_dot_35) + (pickupable DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_86) + + (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_2_bar_8_bar_1_bar_30) + + (cleanable DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_98) + (cleanable Cloth_bar__minus_02_dot_94_bar__plus_00_dot_11_bar__plus_00_dot_73) + (cleanable SoapBar_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_03_dot_29) + (cleanable Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_63) + (cleanable SoapBar_bar__minus_01_dot_50_bar__plus_01_dot_10_bar__plus_03_dot_06) + (cleanable DishSponge_bar__minus_00_dot_76_bar__plus_01_dot_07_bar__plus_00_dot_30) + (cleanable DishSponge_bar__minus_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06) + (cleanable Cloth_bar__minus_02_dot_29_bar__plus_00_dot_06_bar__plus_03_dot_29) + (cleanable DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_86) + + + + + + + + + + + (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_01_dot_50_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 Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_37 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle ToiletPaper_bar__minus_00_dot_32_bar__plus_01_dot_10_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 PaperTowelRoll_bar__minus_02_dot_41_bar__plus_01_dot_21_bar__plus_02_dot_91 CounterTop_bar__minus_01_dot_36_bar__plus_01_dot_09_bar__plus_03_dot_15) + (inReceptacle SoapBar_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_03_dot_29 Cabinet_bar__minus_01_dot_40_bar__plus_00_dot_43_bar__plus_02_dot_87) + (inReceptacle SoapBottle_bar__minus_02_dot_01_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 Cloth_bar__minus_02_dot_29_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 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 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 Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_63 Bathtub_bar__minus_02_dot_23_bar__plus_00_dot_29_bar__plus_00_dot_72_bar_BathtubBasin) + (inReceptacle Candle_bar__minus_02_dot_92_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 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_22_bar__plus_00_dot_60_bar__plus_01_dot_47 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 DishSponge_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) + (inReceptacle ToiletPaper_bar__minus_00_dot_89_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 DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_86 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_32_bar__plus_01_dot_10_bar__plus_03_dot_37 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_29_bar__plus_00_dot_06_bar__plus_03_dot_29 loc_bar__minus_7_bar_8_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 SoapBottle_bar__minus_02_dot_01_bar__plus_00_dot_06_bar__plus_03_dot_29 loc_bar__minus_7_bar_8_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_13_bar__plus_00_dot_60_bar__plus_01_dot_10 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_03_dot_29 loc_bar__minus_5_bar_8_bar_0_bar_60) + (objectAtLocation DishSponge_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_01_dot_28_bar__plus_01_dot_11_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_73_bar__plus_00_dot_11_bar__plus_00_dot_63 loc_bar__minus_8_bar_6_bar_2_bar_60) + (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_50_bar__plus_01_dot_10_bar__plus_03_dot_06 loc_bar__minus_6_bar_10_bar_0_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_89_bar__plus_01_dot_07_bar__plus_00_dot_30 loc_bar_1_bar_3_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_96_bar__plus_00_dot_60_bar__plus_01_dot_13 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_32_bar__plus_01_dot_10_bar__plus_03_dot_29 loc_bar__minus_6_bar_10_bar_0_bar_45) + (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_02_dot_41_bar__plus_01_dot_21_bar__plus_02_dot_91 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_02_dot_92_bar__plus_00_dot_60_bar__plus_01_dot_51 loc_bar__minus_8_bar_6_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_24_bar__plus_00_dot_60_bar__plus_00_dot_98 loc_bar__minus_8_bar_6_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_03_dot_22_bar__plus_00_dot_60_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o DishSpongeType) + (receptacleType ?r BathtubBasinType) + (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-DishSponge-None-BathtubBasin-403/trial_T20190908_033408_258211/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-BathtubBasin-403/trial_T20190908_033408_258211/traj_data.json new file mode 100644 index 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"Candle_0619d5dc", + "position": { + "x": -0.323528528, + "y": 1.10323822, + "z": 3.36936235 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_22e0124b", + "position": { + "x": -1.24020958, + "y": 0.6008463, + "z": 0.8559504 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_41ba80d1", + "position": { + "x": -3.22296262, + "y": 0.599911869, + "z": 1.4675678 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 695815615, + "scene_num": 403 + }, + "task_id": "trial_T20190908_033408_258211", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_3TR2532VISBRZKFDC2WAAXMCQLQJ6R", + "high_descs": [ + "Turn around, move to the door, turn right to face the sponge on the counter next to the sink. ", + "Pick up the sponge on the counter. ", + "Bring the sponge to the left sink. ", + "Wash the sponge in the sink with water. ", + "Pick up the cleaned sponge from the sink, turn around, bring the sponge to the tub. ", + "Put the cleaned sponge in the tub. " + ], + "task_desc": "Put a cleaned sponge in the tub. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3U5JL4WY5NQEFHGOAIIW48AD5T74XP", + "high_descs": [ + "Turn to face the counter between the sinks on the left.", + "Pick the sponge up from the counter.", + "Move to the left to face the sink on the left.", + "Put the sponge in the sink and turn on the water and then turn the water off and pick the sponge up from the sink.", + "Turn around and face the tub.", + "Put the sponge in the tub." + ], + "task_desc": "Put a sponge in a tub.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3WAKVUDHUZXJH04C7B5GNDVJ2DQ7UU", + "high_descs": [ + "Turn around, then right, proceed to counter between sinks.", + "Pick up green sponge from the counter.", + "Turn left, then right to face the counter between the wall and left sink.", + "Put sponge in sink, fill and drain water, pick up sponge.", + "Turn around and proceed to tub.", + "Place sponge in tub to the right and behind the toilet paper." + ], + "task_desc": "Wash sponge in sink then put in tub.", + "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-Pan-None-DiningTable-17/trial_T20190908_032235_090160/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_032235_090160/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1ba4db93fb32ae5113ea03834f690faf3d92e7fe --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_032235_090160/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 pan 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_T20190908_032235_090160)\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_66_bar__plus_00_dot_97_bar__minus_00_dot_43 - object\n Apple_bar__minus_01_dot_09_bar__plus_01_dot_70_bar__plus_01_dot_19 - object\n Bowl_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_26 - object\n 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Tomato_bar__minus_01_dot_15_bar__plus_01_dot_69_bar__plus_00_dot_78 - object\n Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object\n WineBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_15 - object\n WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 - object\n Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n 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receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle\n CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle\n CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle\n CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle\n DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle\n 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location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_0 - location\n loc_bar_2_bar_10_bar_1_bar_60 - location\n loc_bar_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_1_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar_0_bar_2_bar_45 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_1_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_0_bar_30 - location\n loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_1_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location\n loc_bar_1_bar_2_bar_1_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_30 - location\n loc_bar_3_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location\n loc_bar_0_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_2_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType)\n (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin 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(canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (pickupable SaltShaker_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__minus_00_dot_39)\n (pickupable Apple_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_43)\n (pickupable Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_43)\n (pickupable Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_05)\n (pickupable SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_48)\n (pickupable DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_58)\n (pickupable WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67)\n (pickupable Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_67)\n (pickupable PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_02_dot_48)\n (pickupable Glassbottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_91)\n (pickupable 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WineBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_15)\n (pickupable Lettuce_bar__plus_01_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_71)\n (pickupable Cup_bar__minus_01_dot_29_bar__plus_02_dot_15_bar__plus_00_dot_59)\n (pickupable PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_69)\n (pickupable PepperShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_27)\n (pickupable Mug_bar__minus_01_dot_21_bar__plus_01_dot_63_bar__plus_00_dot_98)\n (pickupable Glassbottle_bar__plus_01_dot_19_bar__plus_00_dot_09_bar__plus_01_dot_44)\n (pickupable ButterKnife_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_03_dot_02)\n (pickupable Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_58)\n (pickupable Bowl_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_26)\n (pickupable CellPhone_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_48)\n (pickupable 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Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_43)\n (cleanable Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_05)\n (cleanable DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_58)\n (cleanable Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_67)\n (cleanable Lettuce_bar__minus_01_dot_26_bar__plus_01_dot_49_bar__plus_00_dot_78)\n (cleanable Apple_bar__minus_01_dot_09_bar__plus_01_dot_70_bar__plus_01_dot_19)\n (cleanable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (cleanable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_82_bar__plus_00_dot_78)\n (cleanable Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14)\n (cleanable Fork_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_83)\n (cleanable Plate_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71)\n (cleanable Tomato_bar__minus_01_dot_15_bar__plus_01_dot_69_bar__plus_00_dot_78)\n (cleanable DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_77)\n (cleanable Kettle_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47)\n (cleanable Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_46)\n (cleanable Potato_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_37)\n (cleanable Mug_bar__minus_01_dot_09_bar__plus_01_dot_42_bar__plus_00_dot_88)\n (cleanable Knife_bar__minus_01_dot_01_bar__plus_00_dot_77_bar__plus_02_dot_09)\n (cleanable Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_18)\n (cleanable Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_46)\n (cleanable Egg_bar__minus_01_dot_07_bar__plus_00_dot_38_bar__plus_00_dot_88)\n (cleanable Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64)\n (cleanable Spoon_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_26)\n (cleanable Lettuce_bar__plus_01_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_71)\n (cleanable Cup_bar__minus_01_dot_29_bar__plus_02_dot_15_bar__plus_00_dot_59)\n (cleanable Mug_bar__minus_01_dot_21_bar__plus_01_dot_63_bar__plus_00_dot_98)\n (cleanable ButterKnife_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_03_dot_02)\n (cleanable Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_58)\n (cleanable Bowl_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_26)\n \n (heatable Apple_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_43)\n (heatable Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_05)\n (heatable Apple_bar__minus_01_dot_09_bar__plus_01_dot_70_bar__plus_01_dot_19)\n (heatable Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46)\n (heatable Plate_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71)\n (heatable Tomato_bar__minus_01_dot_15_bar__plus_01_dot_69_bar__plus_00_dot_78)\n (heatable Bread_bar__plus_01_dot_13_bar__plus_00_dot_97_bar__minus_00_dot_14)\n (heatable 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Mug_bar__minus_01_dot_21_bar__plus_01_dot_63_bar__plus_00_dot_98)\n (coolable Bowl_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_26)\n \n \n \n \n \n (sliceable Apple_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_43)\n (sliceable Lettuce_bar__minus_01_dot_26_bar__plus_01_dot_49_bar__plus_00_dot_78)\n (sliceable Apple_bar__minus_01_dot_09_bar__plus_01_dot_70_bar__plus_01_dot_19)\n (sliceable Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46)\n (sliceable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_82_bar__plus_00_dot_78)\n (sliceable Tomato_bar__minus_01_dot_15_bar__plus_01_dot_69_bar__plus_00_dot_78)\n (sliceable Bread_bar__plus_01_dot_13_bar__plus_00_dot_97_bar__minus_00_dot_14)\n (sliceable Potato_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_37)\n (sliceable Egg_bar__minus_01_dot_07_bar__plus_00_dot_38_bar__plus_00_dot_88)\n (sliceable Lettuce_bar__plus_01_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_71)\n \n (inReceptacle SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_00_dot_13 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28)\n (inReceptacle Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_18 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38)\n (inReceptacle PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_69 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58)\n (inReceptacle Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_05 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18)\n (inReceptacle Cup_bar__minus_01_dot_29_bar__plus_02_dot_15_bar__plus_00_dot_59 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43)\n (inReceptacle Bread_bar__plus_01_dot_13_bar__plus_00_dot_97_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle SprayBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_99 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Lettuce_bar__plus_01_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Plate_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle WineBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Spoon_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Potato_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Bowl_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle SaltShaker_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__minus_00_dot_39 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Apple_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle CellPhone_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_48 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_67 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Glassbottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_91 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_77 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73)\n (inReceptacle Kettle_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47)\n (inReceptacle Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle PepperShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle ButterKnife_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Knife_bar__minus_01_dot_01_bar__plus_00_dot_77_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Fork_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Lettuce_bar__minus_01_dot_26_bar__plus_01_dot_49_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Egg_bar__minus_01_dot_07_bar__plus_00_dot_38_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_82_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Mug_bar__minus_01_dot_21_bar__plus_01_dot_63_bar__plus_00_dot_98 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Mug_bar__minus_01_dot_09_bar__plus_01_dot_42_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Tomato_bar__minus_01_dot_15_bar__plus_01_dot_69_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Apple_bar__minus_01_dot_09_bar__plus_01_dot_70_bar__plus_01_dot_19 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Glassbottle_bar__plus_01_dot_19_bar__plus_00_dot_09_bar__plus_01_dot_44 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_09_bar__plus_01_dot_42_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_69 loc_bar_0_bar_2_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_00_dot_13 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__minus_01_dot_01_bar__plus_00_dot_77_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_43 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_18 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_13_bar__plus_00_dot_97_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_82_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__plus_01_dot_19_bar__plus_00_dot_09_bar__plus_01_dot_44 loc_bar_1_bar_6_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Kettle_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_15_bar__plus_01_dot_69_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_05 loc_bar_1_bar_2_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_26_bar__plus_01_dot_49_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0)\n (objectAtLocation WineBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_09_bar__plus_01_dot_70_bar__plus_01_dot_19 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_29_bar__plus_02_dot_15_bar__plus_00_dot_59 loc_bar__minus_1_bar_2_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_07_bar__plus_00_dot_38_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__minus_00_dot_39 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_77 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_99 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_21_bar__plus_01_dot_63_bar__plus_00_dot_98 loc_bar__minus_1_bar_4_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 PanType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take pan 1 from countertop 2", "go to sinkbasin 1", "clean pan 1 with sinkbasin 1", "go to diningtable 2", "move pan 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-Pan-None-DiningTable-17/trial_T20190908_032235_090160/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_032235_090160/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0bab3bd8c4ffefdd8bd602aaee5e0242cb11541f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_032235_090160/initial_state.pddl @@ -0,0 +1,1259 @@ + +(define (problem plan_trial_T20190908_032235_090160) +(: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_66_bar__plus_00_dot_97_bar__minus_00_dot_43 - object + Apple_bar__minus_01_dot_09_bar__plus_01_dot_70_bar__plus_01_dot_19 - object + Bowl_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_26 - object + Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + Bread_bar__plus_01_dot_13_bar__plus_00_dot_97_bar__minus_00_dot_14 - object + Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 - object + ButterKnife_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_03_dot_02 - object + CellPhone_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_48 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__minus_01_dot_29_bar__plus_02_dot_15_bar__plus_00_dot_59 - object + DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_58 - object + DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_77 - object + Egg_bar__minus_01_dot_07_bar__plus_00_dot_38_bar__plus_00_dot_88 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + Glassbottle_bar__plus_01_dot_19_bar__plus_00_dot_09_bar__plus_01_dot_44 - object + Glassbottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_91 - object + Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Kettle_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47 - object + Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_18 - object + Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__minus_00_dot_43 - object + Knife_bar__minus_01_dot_01_bar__plus_00_dot_77_bar__plus_02_dot_09 - object + Lettuce_bar__plus_01_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_71 - object + Lettuce_bar__minus_01_dot_26_bar__plus_01_dot_49_bar__plus_00_dot_78 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_82_bar__plus_00_dot_78 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__minus_01_dot_09_bar__plus_01_dot_42_bar__plus_00_dot_88 - object + Mug_bar__minus_01_dot_21_bar__plus_01_dot_63_bar__plus_00_dot_98 - object + Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_67 - object + PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_02_dot_48 - object + PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_69 - object + PepperShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_05 - object + Plate_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Potato_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_37 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + SaltShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_00_dot_13 - object + SaltShaker_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__minus_00_dot_39 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_48 - object + SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 - object + Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_58 - object + Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_46 - object + Spoon_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_26 - object + Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + SprayBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_99 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__minus_01_dot_15_bar__plus_01_dot_69_bar__plus_00_dot_78 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_15 - object + WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle + Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle + CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle + CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle + CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle + DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle + Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle + GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle + Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar_30 - location + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_0 - location + loc_bar_2_bar_10_bar_1_bar_60 - location + loc_bar_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_2_bar_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 CabinetType) + (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 CounterTopType) + (receptacleType CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 CoffeeMachineType) + (receptacleType 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DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SoapBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spoon_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Potato_bar__plus_01_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Bowl_bar__plus_01_dot_12_bar__plus_00_dot_88_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SaltShaker_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__minus_00_dot_39 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Apple_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle CellPhone_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_48 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_67 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Glassbottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_91 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_77 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73) + (inReceptacle Kettle_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47) + (inReceptacle Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle PepperShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle ButterKnife_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Glassbottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Knife_bar__minus_01_dot_01_bar__plus_00_dot_77_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Fork_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Lettuce_bar__minus_01_dot_26_bar__plus_01_dot_49_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Egg_bar__minus_01_dot_07_bar__plus_00_dot_38_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_82_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Mug_bar__minus_01_dot_21_bar__plus_01_dot_63_bar__plus_00_dot_98 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Mug_bar__minus_01_dot_09_bar__plus_01_dot_42_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Tomato_bar__minus_01_dot_15_bar__plus_01_dot_69_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Apple_bar__minus_01_dot_09_bar__plus_01_dot_70_bar__plus_01_dot_19 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Glassbottle_bar__plus_01_dot_19_bar__plus_00_dot_09_bar__plus_01_dot_44 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation 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Turn the water off and pick up the pan.", + "Carry the pan and turn around. Go forward and then face the white table on the left.", + "Place the pan on the table, to the right side in the back." + ], + "task_desc": "Rinse a pan and place it on the table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3QEMNNSB20GX0YTQLGFRDDRVGCBD74", + "high_descs": [ + "Turn right and walk to the counter to the right of the sink.", + "Pick up the pan.", + "Take a step left.", + "Wash the pan in the sink. ", + "Turn around and walk ahead, then veer left to the white table.", + " Place the pan on the table to the right of the bread." + ], + "task_desc": "Place a washed pan on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3YOH7BII0CO7PU0WVV4UN42OM3KKVL", + "high_descs": [ + "Turn right and walk across the room. ", + "Pick up the pan that is on the counter to the left of the apple.", + "Turn left and take one step, then turn right to face the sink. ", + "Place the pan in the sink, turn on the water for a two seconds, then turn off the faucet and pick up the pan. ", + "Turn around and walk across the room, then turn left to face the white table. ", + "Place the pan on the table to the right of the bread." + ], + "task_desc": "To clean the pan. ", + "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-Pan-None-DiningTable-17/trial_T20190908_120954_429542/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_120954_429542/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5f47448b83222337e02f60099eab8e9341d02b74 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_120954_429542/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 pan 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_T20190908_120954_429542)\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_3_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location\n loc_bar_0_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType)\n (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType)\n (receptacleType 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SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_66_bar__minus_00_dot_85 Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65)\n (inReceptacle PepperShaker_bar__minus_01_dot_02_bar__plus_01_dot_65_bar__minus_00_dot_76 Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65)\n (inReceptacle WineBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_48 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33)\n (inReceptacle Plate_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_22 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38)\n (inReceptacle Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_01_dot_16 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23)\n (inReceptacle Bowl_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle PepperShaker_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle ButterKnife_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Tomato_bar__plus_01_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Tomato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Fork_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Glassbottle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle SprayBottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Glassbottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Apple_bar__plus_01_dot_03_bar__plus_00_dot_95_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Spoon_bar__minus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_17 Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21)\n (inReceptacle Bowl_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_21 Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37)\n (inReceptacle WineBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_82 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_90 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_90 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_73 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73)\n (inReceptacle DishSponge_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Spoon_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Lettuce_bar__minus_01_dot_20_bar__plus_00_dot_82_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Potato_bar__minus_01_dot_38_bar__plus_00_dot_79_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Kettle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Pan_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Apple_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_30 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Egg_bar__minus_01_dot_44_bar__plus_01_dot_67_bar__plus_01_dot_29 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bread_bar__minus_01_dot_21_bar__plus_01_dot_48_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Glassbottle_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Potato_bar__minus_01_dot_36_bar__plus_01_dot_06_bar__plus_00_dot_05 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacle Cup_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacleObject Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_15 Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_13_bar__plus_00_dot_34_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_66_bar__minus_00_dot_85 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_36_bar__plus_01_dot_06_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_02_bar__plus_01_dot_65_bar__minus_00_dot_76 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__minus_00_dot_35 loc_bar_0_bar_0_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_03_bar__plus_00_dot_95_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_21 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_82 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 loc_bar__minus_2_bar_12_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Glassbottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_21_bar__plus_01_dot_48_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_22 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (objectAtLocation CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_90 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_20_bar__plus_00_dot_82_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0)\n (objectAtLocation WineBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (objectAtLocation Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_15 loc_bar_2_bar_9_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_30 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_01_dot_16 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_44_bar__plus_01_dot_67_bar__plus_01_dot_29 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_90 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_38_bar__plus_00_dot_79_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 loc_bar_2_bar_10_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 PanType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take pan 2 from diningtable 2", "go to sinkbasin 1", "clean pan 2 with sinkbasin 1", "go to diningtable 2", "move pan 2 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-Pan-None-DiningTable-17/trial_T20190908_120954_429542/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_120954_429542/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6e5ac9bf380597c1885fbebbea6935e5cd32bdfb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_120954_429542/initial_state.pddl @@ -0,0 +1,1320 @@ + +(define (problem plan_trial_T20190908_120954_429542) +(: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_03_bar__plus_00_dot_95_bar__plus_02_dot_15 - object + Apple_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_30 - object + Bowl_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + Bowl_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_21 - object + Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 - object + Bread_bar__minus_01_dot_21_bar__plus_01_dot_48_bar__plus_00_dot_99 - object + ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_37 - object + ButterKnife_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_90 - object + CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_01_dot_16 - object + Cup_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 - object + DishSponge_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_58 - object + Egg_bar__minus_01_dot_44_bar__plus_01_dot_67_bar__plus_01_dot_29 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_58 - object + Fork_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + Glassbottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_26 - object + Glassbottle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_80 - object + Glassbottle_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_99 - object + Kettle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 - object + Knife_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__minus_00_dot_35 - object + Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_03_dot_02 - object + Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14 - object + Lettuce_bar__minus_01_dot_20_bar__plus_00_dot_82_bar__plus_02_dot_46 - object + Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 - object + Mug_bar__minus_01_dot_13_bar__plus_00_dot_34_bar__plus_00_dot_88 - object + Pan_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_00_dot_88 - object + PepperShaker_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + PepperShaker_bar__minus_01_dot_02_bar__plus_01_dot_65_bar__minus_00_dot_76 - object + Plate_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_22 - object + Potato_bar__minus_01_dot_36_bar__plus_01_dot_06_bar__plus_00_dot_05 - object + Potato_bar__minus_01_dot_38_bar__plus_00_dot_79_bar__plus_02_dot_09 - object + Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_90 - object + SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_15 - object + Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_73 - object + Spoon_bar__minus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_17 - object + Spoon_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + SprayBottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_80 - object + SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_66_bar__minus_00_dot_85 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__plus_01_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_14 - object + Tomato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__plus_00_dot_14 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + WineBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_48 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle + Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle + CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle + CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle + 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loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_45 - location + loc_bar_2_bar_9_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_0_bar_0_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType) + 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Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74) + (cleanable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74) + (cleanable Potato_bar__minus_01_dot_36_bar__plus_01_dot_06_bar__plus_00_dot_05) + (cleanable Spoon_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_01_dot_90) + (cleanable Egg_bar__minus_01_dot_44_bar__plus_01_dot_67_bar__plus_01_dot_29) + (cleanable Cup_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11) + (cleanable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_58) + (cleanable Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_03_dot_02) + (cleanable Mug_bar__minus_01_dot_13_bar__plus_00_dot_34_bar__plus_00_dot_88) + (cleanable Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43) + (cleanable Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02) + (cleanable Tomato_bar__plus_01_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_14) + (cleanable Tomato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__plus_00_dot_14) + (cleanable Lettuce_bar__minus_01_dot_20_bar__plus_00_dot_82_bar__plus_02_dot_46) + (cleanable Plate_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_22) + (cleanable Fork_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_43) + (cleanable Apple_bar__plus_01_dot_03_bar__plus_00_dot_95_bar__plus_02_dot_15) + (cleanable Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_58) + (cleanable Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_01_dot_16) + (cleanable Bowl_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14) + (cleanable DishSponge_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64) + (cleanable Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_73) + (cleanable Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64) + (cleanable Apple_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_30) + (cleanable Knife_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__minus_00_dot_35) + (cleanable Potato_bar__minus_01_dot_38_bar__plus_00_dot_79_bar__plus_02_dot_09) + (cleanable Pan_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09) + (cleanable Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42) + + (heatable Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15) + (heatable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68) + (heatable Potato_bar__minus_01_dot_36_bar__plus_01_dot_06_bar__plus_00_dot_05) + (heatable Egg_bar__minus_01_dot_44_bar__plus_01_dot_67_bar__plus_01_dot_29) + (heatable Cup_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11) + (heatable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_58) + (heatable Mug_bar__minus_01_dot_13_bar__plus_00_dot_34_bar__plus_00_dot_88) + (heatable Tomato_bar__plus_01_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_14) + (heatable Tomato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__plus_00_dot_14) + (heatable Plate_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_22) + (heatable Bread_bar__minus_01_dot_21_bar__plus_01_dot_48_bar__plus_00_dot_99) + (heatable Apple_bar__plus_01_dot_03_bar__plus_00_dot_95_bar__plus_02_dot_15) + (heatable Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_01_dot_16) + (heatable Apple_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_30) + (heatable Potato_bar__minus_01_dot_38_bar__plus_00_dot_79_bar__plus_02_dot_09) + (coolable Bowl_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_21) + (coolable Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_00_dot_88) + (coolable Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15) + (coolable Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14) + (coolable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74) + (coolable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68) + (coolable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74) + (coolable WineBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_48) + (coolable Potato_bar__minus_01_dot_36_bar__plus_01_dot_06_bar__plus_00_dot_05) + (coolable WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71) + (coolable Egg_bar__minus_01_dot_44_bar__plus_01_dot_67_bar__plus_01_dot_29) + (coolable Cup_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11) + (coolable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_58) + (coolable Mug_bar__minus_01_dot_13_bar__plus_00_dot_34_bar__plus_00_dot_88) + (coolable Tomato_bar__plus_01_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_14) + (coolable Tomato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__plus_00_dot_14) + (coolable Lettuce_bar__minus_01_dot_20_bar__plus_00_dot_82_bar__plus_02_dot_46) + (coolable Plate_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_22) + (coolable Bread_bar__minus_01_dot_21_bar__plus_01_dot_48_bar__plus_00_dot_99) + (coolable Apple_bar__plus_01_dot_03_bar__plus_00_dot_95_bar__plus_02_dot_15) + (coolable Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_01_dot_16) + (coolable Bowl_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14) + (coolable WineBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_82) + (coolable Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64) + (coolable Apple_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_30) + (coolable Potato_bar__minus_01_dot_38_bar__plus_00_dot_79_bar__plus_02_dot_09) + (coolable Pan_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09) + + (isCool Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_00_dot_88) + + + + (sliceable Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14) + (sliceable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68) + (sliceable Potato_bar__minus_01_dot_36_bar__plus_01_dot_06_bar__plus_00_dot_05) + (sliceable Egg_bar__minus_01_dot_44_bar__plus_01_dot_67_bar__plus_01_dot_29) + (sliceable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_58) + (sliceable Tomato_bar__plus_01_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_14) + (sliceable Tomato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__plus_00_dot_14) + (sliceable Lettuce_bar__minus_01_dot_20_bar__plus_00_dot_82_bar__plus_02_dot_46) + (sliceable Bread_bar__minus_01_dot_21_bar__plus_01_dot_48_bar__plus_00_dot_99) + (sliceable Apple_bar__plus_01_dot_03_bar__plus_00_dot_95_bar__plus_02_dot_15) + (sliceable Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64) + (sliceable Apple_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_30) + (sliceable Potato_bar__minus_01_dot_38_bar__plus_00_dot_79_bar__plus_02_dot_09) + + (inReceptacle SprayBottle_bar__minus_01_dot_08_bar__plus_01_dot_66_bar__minus_00_dot_85 Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65) + (inReceptacle PepperShaker_bar__minus_01_dot_02_bar__plus_01_dot_65_bar__minus_00_dot_76 Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65) + (inReceptacle WineBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_48 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33) + (inReceptacle Plate_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_22 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38) + (inReceptacle Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_01_dot_16 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23) + (inReceptacle Bowl_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle PepperShaker_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle ButterKnife_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Tomato_bar__plus_01_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Tomato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Fork_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Lettuce_bar__plus_01_dot_37_bar__plus_00_dot_98_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Glassbottle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SprayBottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Glassbottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Apple_bar__plus_01_dot_03_bar__plus_00_dot_95_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spoon_bar__minus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_17 Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21) + (inReceptacle Bowl_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_21 Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37) + (inReceptacle WineBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_82 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_90 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_90 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_73 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73) + (inReceptacle DishSponge_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle CellPhone_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spoon_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Lettuce_bar__minus_01_dot_20_bar__plus_00_dot_82_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Potato_bar__minus_01_dot_38_bar__plus_00_dot_79_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SaltShaker_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Kettle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Pan_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_03_dot_02 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Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o PanType) + (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-Pan-None-DiningTable-17/trial_T20190908_120954_429542/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_120954_429542/traj_data.json new file 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from the right of the spoon.", + "Turn left, proceed to sink.", + "Place pan in sink, fill sink with water, drain sink of water, pick up pan from sink.", + "Turn around, proceed across room. Turn left proceed to table.", + "Place pan on sink, to the right of the spoon and below the potato." + ], + "task_desc": "Wash pot and return to table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3M23Y66PO5OKYNY3ZW5O2YDZM31S6C", + "high_descs": [ + "turn around, walk to the white cabinet on the left", + "grab the pan on the cabinet", + "turn left, walk to the sink", + "put the pan in the sink, wash it with water, take the pan out", + "turn around, walk to the cabinet on the left", + "put the pan on the cabinet" + ], + "task_desc": "wash the pan with water,put it back on the cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3ZPBJO59KSIUTNZ2YP134QGPUF7HDA", + "high_descs": [ + "Turn around and then turn left to face the white table", + "Pick up a pan off of the table", + "Turn to your left so that you are facing the sink", + "Put the pan in the sink and rinse it before picking it back up", + "Turn around and then head back to facing the white table again", + "Put the pan back on the white table" + ], + "task_desc": "Wash a pan and put it away", + "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-Pan-None-DiningTable-17/trial_T20190908_121048_245346/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_121048_245346/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0c7213b98a6d0eb7db7fd95765d395bc498e83d7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_121048_245346/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 pan 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_121048_245346)\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_48_bar__plus_00_dot_88 - object\n Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78 - object\n Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96 - object\n Bowl_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_64 - object\n Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46 - object\n Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20 - object\n Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78 - object\n Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78 - object\n ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_58 - object\n ButterKnife_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 - object\n CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_82 - object\n Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object\n Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 - object\n Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10 - object\n DishSponge_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_43 - object\n DishSponge_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 - object\n Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38 - object\n Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78 - object\n Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83 - object\n Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object\n Fork_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_83 - object\n Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_00_dot_67 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_01_dot_90 - object\n Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 - object\n Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_02_dot_46 - object\n Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71 - object\n Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46 - object\n Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88 - object\n LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object\n Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 - object\n Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 - object\n Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 - object\n Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09 - object\n Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09 - object\n PepperShaker_bar__plus_01_dot_06_bar__plus_02_dot_15_bar__minus_00_dot_85 - object\n PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 - object\n PepperShaker_bar__minus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_48 - object\n Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 - object\n Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45 - object\n Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44 - object\n Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 - object\n SaltShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_01_dot_12 - object\n SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_67 - object\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object\n SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_66_bar__minus_00_dot_79 - object\n SoapBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_01_dot_04 - object\n SoapBottle_bar__minus_01_dot_43_bar__plus_00_dot_91_bar__minus_00_dot_91 - object\n Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 - object\n Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 - object\n Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_37 - object\n Spoon_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_40 - object\n SprayBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_37 - object\n SprayBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_80 - object\n SprayBottle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_15 - object\n StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58 - object\n Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48 - object\n Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object\n WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 - object\n WineBottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_29 - object\n WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_13 - object\n Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle\n Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle\n CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle\n CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle\n CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle\n DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle\n Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle\n GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle\n Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar_30 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_0 - location\n loc_bar_2_bar_10_bar_1_bar_60 - location\n loc_bar_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_1_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar__minus_2_bar_10_bar_3_bar_45 - location\n loc_bar_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar_0_bar_2_bar_45 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_1_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_0_bar_30 - location\n loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_1_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location\n loc_bar_1_bar_2_bar_1_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_30 - location\n loc_bar_3_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location\n loc_bar_0_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_2_bar_10_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType)\n (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType)\n (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType)\n (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 CabinetType)\n (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 CounterTopType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType)\n (receptacleType Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 CabinetType)\n (objectType Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78 AppleType)\n (objectType WineBottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_29 WineBottleType)\n (objectType ButterKnife_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 ButterKnifeType)\n (objectType Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88 AppleType)\n (objectType PepperShaker_bar__plus_01_dot_06_bar__plus_02_dot_15_bar__minus_00_dot_85 PepperShakerType)\n (objectType SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_67 SaltShakerType)\n (objectType ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_58 ButterKnifeType)\n (objectType Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78 BreadType)\n (objectType Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78 BreadType)\n (objectType SoapBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_01_dot_04 SoapBottleType)\n (objectType DishSponge_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_43 DishSpongeType)\n (objectType Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 SpatulaType)\n (objectType Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 PotType)\n (objectType Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 PotType)\n (objectType Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 PanType)\n (objectType PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 PepperShakerType)\n (objectType Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71 LettuceType)\n (objectType SprayBottle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_15 SprayBottleType)\n (objectType Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 PlateType)\n (objectType LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 LightSwitchType)\n (objectType Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09 PanType)\n (objectType Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 MugType)\n (objectType Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20 BreadType)\n (objectType Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09 PanType)\n (objectType DishSponge_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 DishSpongeType)\n (objectType StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 StoveKnobType)\n (objectType Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 WindowType)\n (objectType Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44 PotatoType)\n (objectType Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78 EggType)\n (objectType Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 KnifeType)\n (objectType Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 ChairType)\n (objectType SoapBottle_bar__minus_01_dot_43_bar__plus_00_dot_91_bar__minus_00_dot_91 SoapBottleType)\n (objectType Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83 EggType)\n (objectType SprayBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_37 SprayBottleType)\n (objectType Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48 TomatoType)\n (objectType PepperShaker_bar__minus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_48 PepperShakerType)\n (objectType Bowl_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_64 BowlType)\n (objectType WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 WineBottleType)\n (objectType SprayBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_80 SprayBottleType)\n (objectType Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_37 SpatulaType)\n (objectType Spoon_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_40 SpoonType)\n (objectType Fork_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_83 ForkType)\n (objectType StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 StoveKnobType)\n (objectType Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 SpatulaType)\n (objectType Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58 TomatoType)\n (objectType SaltShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_01_dot_12 SaltShakerType)\n (objectType Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_00_dot_67 GlassbottleType)\n (objectType StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 StoveKnobType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 WindowType)\n (objectType Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_02_dot_46 KnifeType)\n (objectType DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 DishSpongeType)\n (objectType Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45 PlateType)\n (objectType Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38 EggType)\n (objectType StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 StoveKnobType)\n (objectType Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10 CupType)\n (objectType Kettle_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_01_dot_90 KettleType)\n (objectType Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88 LettuceType)\n (objectType Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 CupType)\n (objectType WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_13 WineBottleType)\n (objectType CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_82 CellPhoneType)\n (objectType Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 MugType)\n (objectType Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96 BowlType)\n (objectType Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46 LettuceType)\n (objectType Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46 BowlType)\n (objectType SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_66_bar__minus_00_dot_79 SoapBottleType)\n (objectType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 SinkType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType WineBottleType)\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 CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType WineBottleType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\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 SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType KettleType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType GlassbottleType)\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 SprayBottleType)\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 CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\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 SprayBottleType)\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 SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\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 SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\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 SprayBottleType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\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 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Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64)\n (cleanable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63)\n (cleanable Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96)\n (cleanable Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46)\n (cleanable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46)\n \n (heatable Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78)\n (heatable Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88)\n (heatable Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78)\n (heatable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78)\n (heatable Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26)\n (heatable Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11)\n (heatable Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20)\n (heatable Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44)\n (heatable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78)\n (heatable Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83)\n (heatable Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48)\n (heatable Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58)\n (heatable Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45)\n (heatable Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38)\n (heatable Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10)\n (heatable Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64)\n (heatable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63)\n (coolable Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78)\n (coolable WineBottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_29)\n (coolable Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88)\n (coolable Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78)\n (coolable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78)\n (coolable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (coolable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47)\n (coolable Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51)\n (coolable Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71)\n (coolable Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26)\n (coolable Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09)\n (coolable Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11)\n (coolable Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20)\n (coolable Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09)\n (coolable Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44)\n (coolable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78)\n (coolable Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83)\n (coolable Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48)\n (coolable Bowl_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_64)\n (coolable WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02)\n (coolable Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58)\n (coolable Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45)\n (coolable Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38)\n (coolable Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10)\n (coolable Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88)\n (coolable Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64)\n (coolable WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_13)\n (coolable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63)\n (coolable Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96)\n (coolable Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46)\n (coolable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46)\n \n (isCool Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09)\n (isCool Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09)\n \n \n \n (sliceable Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78)\n (sliceable Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88)\n (sliceable Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78)\n (sliceable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78)\n (sliceable Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71)\n (sliceable Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20)\n (sliceable Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44)\n (sliceable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78)\n (sliceable Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83)\n (sliceable Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48)\n (sliceable Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58)\n (sliceable Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38)\n (sliceable Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88)\n (sliceable Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46)\n \n (inReceptacleObject Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_37 Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26)\n (inReceptacle Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64)\n (inReceptacle PepperShaker_bar__plus_01_dot_06_bar__plus_02_dot_15_bar__minus_00_dot_85 Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65)\n (inReceptacle SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_66_bar__minus_00_dot_79 Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65)\n (inReceptacle WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_13 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28)\n (inReceptacle Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18)\n (inReceptacle Bowl_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_64 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43)\n (inReceptacle SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_67 Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35)\n (inReceptacle SaltShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_01_dot_12 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23)\n (inReceptacle SoapBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_01_dot_04 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38)\n (inReceptacle PepperShaker_bar__minus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_48 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43)\n (inReceptacle Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle DishSponge_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle DishSponge_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle SprayBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48 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DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle SprayBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle WineBottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_29 Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37)\n (inReceptacle Fork_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_83 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle SoapBottle_bar__minus_01_dot_43_bar__plus_00_dot_91_bar__minus_00_dot_91 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_82 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47)\n (inReceptacle Spoon_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_40 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37)\n (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 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DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74)\n (inReceptacle Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47)\n (inReceptacle Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47)\n (inReceptacleObject Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_02_dot_46 Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46)\n (inReceptacle Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacle Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation 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loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 loc_bar_2_bar_0_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_48 loc_bar__minus_1_bar_2_bar_3_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_67 loc_bar_1_bar_2_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_64 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (objectAtLocation Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_43_bar__plus_00_dot_91_bar__minus_00_dot_91 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_66_bar__minus_00_dot_79 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (objectAtLocation Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38 loc_bar_1_bar_6_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_29 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45)\n (objectAtLocation 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WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_13 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (objectAtLocation Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_02_dot_46 loc_bar__minus_2_bar_10_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_01_dot_12 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_06_bar__plus_02_dot_15_bar__minus_00_dot_85 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (objectAtLocation Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44 loc_bar_1_bar_6_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_40 loc_bar_3_bar_1_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 loc_bar__minus_2_bar_0_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 PanType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take pan 3 from countertop 2", "go to sinkbasin 1", "clean pan 3 with sinkbasin 1", "go to diningtable 2", "move pan 3 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-Pan-None-DiningTable-17/trial_T20190908_121048_245346/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_121048_245346/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d87f830b5107f0fea6b9deeb1aeba51c52b410f2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Pan-None-DiningTable-17/trial_T20190908_121048_245346/initial_state.pddl @@ -0,0 +1,1351 @@ + +(define (problem plan_trial_T20190908_121048_245346) +(: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_48_bar__plus_00_dot_88 - object + Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78 - object + Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96 - object + Bowl_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_64 - object + Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20 - object + Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78 - object + Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78 - object + ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_58 - object + ButterKnife_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_82 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10 - object + DishSponge_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + DishSponge_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38 - object + Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78 - object + Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_83 - object + Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_00_dot_67 - object + Kettle_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_02_dot_46 - object + Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71 - object + Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46 - object + Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 - object + Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 - object + Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 - object + Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09 - object + Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09 - object + PepperShaker_bar__plus_01_dot_06_bar__plus_02_dot_15_bar__minus_00_dot_85 - object + PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + PepperShaker_bar__minus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_48 - object + Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 - object + Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45 - object + Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44 - object + Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 - object + SaltShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_01_dot_12 - object + SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_67 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_66_bar__minus_00_dot_79 - object + SoapBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_01_dot_04 - object + SoapBottle_bar__minus_01_dot_43_bar__plus_00_dot_91_bar__minus_00_dot_91 - object + Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 - object + Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 - object + Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_37 - object + Spoon_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_40 - object + SprayBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_37 - object + SprayBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_80 - object + SprayBottle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_15 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58 - object + Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 - object + WineBottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_29 - object + WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_13 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle + Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle + CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle + CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle + CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle + DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle + Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle + GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle + Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar_30 - location + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_0 - location + loc_bar_2_bar_10_bar_1_bar_60 - location + loc_bar_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar__minus_2_bar_10_bar_3_bar_45 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_2_bar_10_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 CabinetType) + (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType) + 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Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46) + + (heatable Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78) + (heatable Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88) + (heatable Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78) + (heatable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78) + (heatable Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26) + (heatable Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11) + (heatable Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20) + (heatable Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44) + (heatable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78) + (heatable Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83) + (heatable Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48) + (heatable Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58) + (heatable Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45) + (heatable Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38) + (heatable Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10) + (heatable Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64) + (heatable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63) + (coolable Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78) + (coolable WineBottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_29) + (coolable Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88) + (coolable Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78) + (coolable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78) + (coolable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74) + (coolable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47) + (coolable Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51) + (coolable Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71) + (coolable Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26) + (coolable Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09) + (coolable Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11) + (coolable Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20) + (coolable Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09) + (coolable Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44) + (coolable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78) + (coolable Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83) + (coolable Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48) + (coolable Bowl_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_64) + (coolable WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02) + (coolable Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58) + (coolable Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45) + (coolable Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38) + (coolable Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_10) + (coolable Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88) + (coolable Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64) + (coolable WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_13) + (coolable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63) + (coolable Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96) + (coolable Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46) + (coolable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46) + + (isCool Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09) + (isCool Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09) + + + + (sliceable Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78) + (sliceable Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88) + (sliceable Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78) + (sliceable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_78) + (sliceable Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71) + (sliceable Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20) + (sliceable Potato_bar__plus_01_dot_25_bar__plus_00_dot_13_bar__plus_01_dot_44) + (sliceable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_78) + (sliceable Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83) + (sliceable Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48) + (sliceable Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58) + (sliceable Egg_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__plus_01_dot_38) + (sliceable Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88) + (sliceable Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46) + + (inReceptacleObject Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_37 Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26) + (inReceptacle Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_45 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64) + (inReceptacle PepperShaker_bar__plus_01_dot_06_bar__plus_02_dot_15_bar__minus_00_dot_85 Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65) + (inReceptacle SoapBottle_bar__minus_00_dot_66_bar__plus_01_dot_66_bar__minus_00_dot_79 Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65) + (inReceptacle WineBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_13 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28) + (inReceptacle Bowl_bar__plus_01_dot_32_bar__plus_02_dot_15_bar__plus_00_dot_96 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18) + (inReceptacle Bowl_bar__plus_01_dot_33_bar__plus_02_dot_16_bar__plus_00_dot_64 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43) + (inReceptacle SaltShaker_bar__minus_00_dot_21_bar__plus_00_dot_11_bar__minus_00_dot_67 Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35) + (inReceptacle SaltShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_01_dot_12 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23) + (inReceptacle SoapBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_01_dot_04 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38) + (inReceptacle PepperShaker_bar__minus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_48 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43) + (inReceptacle Lettuce_bar__plus_01_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle DishSponge_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle DishSponge_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle SprayBottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Tomato_bar__plus_01_dot_45_bar__plus_00_dot_94_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spatula_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SprayBottle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Plate_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Tomato_bar__plus_01_dot_03_bar__plus_00_dot_94_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle ButterKnife_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SprayBottle_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle WineBottle_bar__minus_01_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_29 Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37) + (inReceptacle Fork_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_83 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pan_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle SoapBottle_bar__minus_01_dot_43_bar__plus_00_dot_91_bar__minus_00_dot_91 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle CellPhone_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_00_dot_82 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47) + (inReceptacle Spoon_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_40 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37) + (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle WineBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Cup_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle ButterKnife_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Lettuce_bar__minus_01_dot_01_bar__plus_00_dot_82_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Knife_bar__minus_01_dot_20_bar__plus_00_dot_77_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Egg_bar__minus_01_dot_20_bar__plus_00_dot_78_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74) + (inReceptacle Lettuce_bar__minus_01_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Apple_bar__minus_01_dot_19_bar__plus_00_dot_40_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Apple_bar__minus_01_dot_09_bar__plus_01_dot_48_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Pan_bar__minus_01_dot_32_bar__plus_01_dot_64_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Bread_bar__minus_01_dot_32_bar__plus_00_dot_81_bar__plus_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Pan_bar__minus_01_dot_21_bar__plus_01_dot_29_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Bread_bar__minus_01_dot_32_bar__plus_01_dot_70_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle 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Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (inReceptacle Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__minus_00_dot_11 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60) + 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"y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_7e041f70", + "position": { + "x": 1.32479823, + "y": 2.15295434, + "z": 0.957001 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_74101882", + "position": { + "x": -1.32097435, + "y": 1.48467243, + "z": 0.7786249 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bread_74101882", + "position": { + "x": -1.32097435, + "y": 1.70037234, + "z": 0.7816504 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6438ff8b", + "position": { + "x": 1.28637147, + "y": 0.982468545, + "z": 0.7067195 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6438ff8b", + "position": { + "x": -1.20685482, + "y": 0.82212615, + "z": 0.883312762 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_8429d040", + "position": { + "x": 1.21904433, + "y": 0.112161458, + "z": 1.11956179 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b6eaf348", + "position": { + "x": 1.06137693, + "y": 2.15165734, + "z": -0.851435363 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b6eaf348", + "position": { + "x": -1.10519874, + "y": 0.7452062, + "z": 2.83014464 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c297f602", + "position": { + "x": -1.36172092, + "y": 1.01045263, + "z": -0.109642938 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Apple_7daf87a0", + "position": { + "x": -1.194168, + "y": 0.40176475, + "z": 0.77862525 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bread_74101882", + "position": { + "x": -1.32097566, + "y": 0.8145725, + "z": 1.19737482 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_6018293c", + "position": { + "x": -1.26391411, + "y": 0.7518743, + "z": 0.6739376 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Fork_9f8771c2", + "position": { + "x": -0.503703535, + "y": 0.912648559, + "z": -0.828023434 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_c40d8d1f", + "position": { + "x": -1.29051554, + "y": 0.7506676, + "z": 1.90228331 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_57296338", + "position": { + "x": 1.450345, + "y": 0.936028838, + "z": 2.477 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_c933fa0b", + "position": { + "x": 1.117845, + "y": 0.8871855, + "z": 2.261375 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_e3d6b27e", + "position": { + "x": -1.0601548, + "y": 0.9098116, + "z": -0.817232251 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6438ff8b", + "position": { + "x": -1.01254034, + "y": 0.8205948, + "z": 2.459 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_92502562", + "position": { + "x": 0.5029, + "y": 0.9393, + "z": -0.7406 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_e0c21b7c", + "position": { + "x": -1.43365359, + "y": 0.9134286, + "z": -0.907535136 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_6b7178a8", + "position": { + "x": -0.91988194, + "y": 0.750555, + "z": 3.015717 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_2f163330", + "position": { + "x": 1.117845, + "y": 0.9012999, + "z": 2.692625 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_7e041f70", + "position": { + "x": 1.32554936, + "y": 2.15515852, + "z": 0.642665267 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_7daf87a0", + "position": { + "x": -1.09273493, + "y": 1.48146152, + "z": 0.88331306 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Cup_572193ee", + "position": { + "x": -1.32900357, + "y": 1.01470053, + "z": 0.09851472 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Knife_268c1c72", + "position": { + "x": 1.444309, + "y": 0.9334927, + "z": 0.4229527 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_1ede3fc6", + "position": { + "x": -1.19785714, + "y": 0.783792734, + "z": 2.83014464 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_8429d040", + "position": { + "x": -0.2116313, + "y": 0.112944961, + "z": -0.665498734 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b6eaf348", + "position": { + "x": -1.26320219, + "y": 2.14979625, + "z": 0.481857359 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_edec52fd", + "position": { + "x": 1.24557734, + "y": 0.131182581, + "z": 1.44079888 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_432df619", + "position": { + "x": 1.117845, + "y": 0.8863421, + "z": 2.58481264 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_4b57442b", + "position": { + "x": 1.36534023, + "y": 0.911064267, + "z": -0.4283477 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_a0065d6c", + "position": { + "x": -1.20685542, + "y": 1.287967, + "z": 1.09268773 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Spoon_1d6d1e51", + "position": { + "x": 1.212944, + "y": 0.7777477, + "z": 0.4035492 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_4f8d0eee", + "position": { + "x": 0.951595068, + "y": 0.8857041, + "z": 2.36918736 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c297f602", + "position": { + "x": 1.21572745, + "y": 0.943699956, + "z": -0.633415341 + }, + "rotation": { + "x": 0.0, + "y": 320.3145, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3119252502, + "scene_num": 17 + }, + "task_id": "trial_T20190908_121048_245346", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_37XITHEISZQXDP7RUYIMYO0DWOXCR6", + "high_descs": [ + "Turn to the left and go back to the counter.", + "Pick up the pan from the counter, to the right of the sink.", + "Take a step to the left to face the sink.", + "Place the pan in the sink and turn on the water. Turn off the water and pick up the pan.", + "Take the pan and turn around, and face left to the white table.", + "Place the pan on the left side of the white table." + ], + "task_desc": "Rinse a pan and place it on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AIICJA0A5J8NF_3DYGAII7POPGVD1VMOFSDYPFZLYPQK", + "high_descs": [ + "Turn to the left, walk to the counter. ", + "Pick the skillet up from the counter. ", + "Step to the left to the sink. ", + "Wash the skillet in the sink, pick the skillet up. ", + "Turn around, cross the room, turn to the white table on the left. ", + "Place the skillet to the left of the lettuce. " + ], + "task_desc": "Put the clean skillet on the white table with the lettuce. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3NQL1CS15UP29ZPDZA5LWCHZKHQVYM", + "high_descs": [ + "turn left, walk to the counter by the sink", + "grab the pan on the counter", + "walk to the left a little", + "put the pan in the sink,wash the pan, take the pan out", + "turn around, walk to the cabinet on the left", + "put the pan on the cabinet by the cabbage" + ], + "task_desc": "wash the pan in the sink, put the pan on the cabinet", + "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-BathtubBasin-402/trial_T20190908_004355_402711/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-BathtubBasin-402/trial_T20190908_004355_402711/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c4a2ac0175bf08c7a6d41759c47a9b7b56a22399 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-BathtubBasin-402/trial_T20190908_004355_402711/initial_state.pddl @@ -0,0 +1,512 @@ + +(define (problem plan_trial_T20190908_004355_402711) +(: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_03_dot_60_bar__plus_00_dot_55_bar__plus_01_dot_11 - object + Cloth_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77 - object + Cloth_bar__minus_03_dot_26_bar__plus_00_dot_19_bar__plus_02_dot_23 - object + Cloth_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_03_dot_13 - object + Faucet_bar__minus_00_dot_58_bar__plus_01_dot_05_bar__plus_05_dot_10 - object + Faucet_bar__minus_01_dot_52_bar__plus_01_dot_05_bar__plus_05_dot_10 - object + Faucet_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__plus_03_dot_81 - object + HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 - object + HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 - object + Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 - object + Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 - object + ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 - object + ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 - object + ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object + ShowerHead_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__plus_00_dot_88 - object + Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 - object + Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 - object + SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_04_bar__plus_04_dot_83 - object + SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_04_bar__plus_04_dot_77 - object + SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_11 - object + SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_29 - object + SprayBottle_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_05_dot_08 - object + SprayBottle_bar__minus_03_dot_60_bar__plus_00_dot_54_bar__plus_01_dot_48 - object + TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_04_bar__plus_05_dot_01 - object + ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71 - object + ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__plus_05_dot_07 - object + Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 - 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_6_bar_9_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 ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__plus_05_dot_07 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_04_bar__plus_04_dot_83 SoapBarType) + (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 SprayBottle_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_05_dot_08 SprayBottleType) + (objectType SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_04_bar__plus_04_dot_77 SoapBottleType) + (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 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 SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_29 SprayBottleType) + (objectType Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelType) + (objectType Cloth_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77 ClothType) + (objectType HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 HandTowelType) + (objectType Candle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_01_dot_11 CandleType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 WindowType) + (objectType Cloth_bar__minus_03_dot_26_bar__plus_00_dot_19_bar__plus_02_dot_23 ClothType) + (objectType TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_04_bar__plus_05_dot_01 TissueBoxType) + (objectType ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 ScrubBrushType) + (objectType ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 ShowerDoorType) + (objectType ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71 ToiletPaperType) + (objectType SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_11 SoapBottleType) + (objectType Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 MirrorType) + (objectType SprayBottle_bar__minus_03_dot_60_bar__plus_00_dot_54_bar__plus_01_dot_48 SprayBottleType) + (objectType Cloth_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_03_dot_13 ClothType) + (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 ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__plus_05_dot_07) + (pickupable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_04_bar__plus_04_dot_83) + (pickupable HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11) + (pickupable SprayBottle_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_05_dot_08) + (pickupable SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_04_bar__plus_04_dot_77) + (pickupable SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_29) + (pickupable Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43) + (pickupable Cloth_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77) + (pickupable HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81) + (pickupable Candle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_01_dot_11) + (pickupable Cloth_bar__minus_03_dot_26_bar__plus_00_dot_19_bar__plus_02_dot_23) + (pickupable TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_04_bar__plus_05_dot_01) + (pickupable ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86) + (pickupable ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71) + (pickupable SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_11) + (pickupable SprayBottle_bar__minus_03_dot_60_bar__plus_00_dot_54_bar__plus_01_dot_48) + (pickupable Cloth_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_03_dot_13) + + (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_6_bar_9_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_04_bar__plus_04_dot_83) + (cleanable Cloth_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77) + (cleanable Cloth_bar__minus_03_dot_26_bar__plus_00_dot_19_bar__plus_02_dot_23) + (cleanable Cloth_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_03_dot_13) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_03_dot_13 Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_03_dot_26_bar__plus_00_dot_19_bar__plus_02_dot_23 Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin) + (inReceptacle Cloth_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 SprayBottle_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_05_dot_08 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__plus_05_dot_07 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle SoapBar_bar__minus_01_dot_70_bar__plus_00_dot_04_bar__plus_04_dot_83 Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_04_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_33_bar__plus_00_dot_04_bar__plus_05_dot_01 Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43) + (inReceptacle Candle_bar__minus_03_dot_60_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 SoapBottle_bar__minus_03_dot_71_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 SprayBottle_bar__minus_03_dot_60_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 HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15) + (inReceptacle HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81) + (inReceptacle 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 SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_29 Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_3_bar_15_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_5_bar_15_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_7_bar_15_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_5_bar_15_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 loc_bar__minus_4_bar_17_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 loc_bar__minus_11_bar_16_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 loc_bar__minus_2_bar_16_bar_0_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 loc_bar__minus_9_bar_18_bar_0_bar_15) + (receptacleAtLocation Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 loc_bar__minus_9_bar_8_bar_3_bar_30) + (receptacleAtLocation Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_2_bar_17_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_6_bar_17_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 loc_bar__minus_2_bar_15_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 loc_bar__minus_2_bar_10_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 loc_bar__minus_2_bar_11_bar_1_bar_30) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_05_dot_08 loc_bar__minus_4_bar_17_bar_0_bar_45) + (objectAtLocation Cloth_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 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 SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_01_dot_11 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation SprayBottle_bar__minus_03_dot_60_bar__plus_00_dot_54_bar__plus_01_dot_48 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation Cloth_bar__minus_03_dot_26_bar__plus_00_dot_19_bar__plus_02_dot_23 loc_bar__minus_10_bar_11_bar_3_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_03_dot_60_bar__plus_00_dot_55_bar__plus_01_dot_11 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation SoapBottle_bar__minus_00_dot_86_bar__plus_00_dot_04_bar__plus_04_dot_77 loc_bar__minus_5_bar_15_bar_0_bar_60) + (objectAtLocation HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 loc_bar__minus_2_bar_16_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 loc_bar__minus_2_bar_11_bar_1_bar_30) + (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_01_dot_70_bar__plus_00_dot_04_bar__plus_04_dot_83 loc_bar__minus_5_bar_15_bar_0_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_01_dot_33_bar__plus_00_dot_04_bar__plus_05_dot_01 loc_bar__minus_7_bar_15_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_70_bar__plus_00_dot_19_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_97_bar__plus_00_dot_96_bar__plus_05_dot_07 loc_bar__minus_4_bar_17_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_29 loc_bar__minus_2_bar_10_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 + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r BathtubBasinType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 270, + "x": -1.5, + "y": 0.9006702, + "z": 2.25 + }, + "object_poses": [ + { + "objectName": "Cloth_576a2369", + "position": { + "x": -3.70140648, + "y": 0.1857121, + "z": 3.1297164 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_576a2369", + "position": { + "x": -3.26249051, + "y": 0.185712039, + "z": 2.23119879 + }, + "rotation": { + "x": 0.0, + "y": 347.395721, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_5e1f325d", + "position": { + "x": -0.224633217, + "y": 1.04577291, + "z": 3.28901434 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_5e1f325d", + "position": { + "x": -3.59791017, + "y": 0.5425718, + "z": 1.47712553 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_da083838", + "position": { + "x": -0.86118, + "y": 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+ }, + "rotation": { + "x": 0.0, + "y": 90.0, + "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": 2525602943, + "scene_num": 402 + }, + "task_id": "trial_T20190908_004355_402711", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3UF6XXFFRR237_3C44YUNSI46M64XQH298DZIGG6JPDP", + "high_descs": [ + "walk over to the sink", + "get the soap bar from the cabinet below the sink", + "take the soap bar to the sink", + "put the soap in the sink, fill the sink with water, then drain and remove", + "take the soap bar over to the tub basin", + "drop the soap bar in the tub" + ], + "task_desc": "get the soap form the cabinet, rinse it in the sink then put it in the tub", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3RGU30DZTDPTON05ZI3RZTJYGMHMJI", + "high_descs": [ + "Turn right and walk forward to the sink on the left.", + "Open the cabinet on the left below the sink and take out the bar of soap, then close the cabinet.", + "Walk over to the sink on the right.", + "Put the bar of soap in the sink, rinse it off, and take it out of the sink.", + "Turn to the left and walk to the bath tub.", + "Put the bar of soap in the bath tub basin, to the right of the purple cloth on the left." + ], + "task_desc": "Put a cleaned bar of soap in a bath tub.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3VE8AYVF8PEYYWC5MR2NFDQB39XF84", + "high_descs": [ + "Turn right, go to the left sink.", + "Take the soap from in the left cabinet under the left sink. ", + "Bring the soap to the right sink on the right.", + "Wet the soap in the sink with water. ", + "Bring the soap to the tub on the left.", + "Put the soap in the tub in between the rags. " + ], + "task_desc": "Put wet soap in the tub. ", + "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-BathtubBasin-402/trial_T20190908_004423_301232/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-BathtubBasin-402/trial_T20190908_004423_301232/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..03fcc9f177de9df7d0446c2e4b685f082da5bfae --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-BathtubBasin-402/trial_T20190908_004423_301232/initial_state.pddl @@ -0,0 +1,512 @@ + +(define (problem plan_trial_T20190908_004423_301232) +(: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_10_bar__plus_01_dot_05_bar__plus_03_dot_35 - object + Cloth_bar__minus_03_dot_59_bar__plus_00_dot_19_bar__plus_03_dot_29 - object + Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29 - object + Faucet_bar__minus_00_dot_58_bar__plus_01_dot_05_bar__plus_05_dot_10 - object + Faucet_bar__minus_01_dot_52_bar__plus_01_dot_05_bar__plus_05_dot_10 - object + Faucet_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__plus_03_dot_81 - object + HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 - object + HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 - object + Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 - object + Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 - object + ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 - object + ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 - object + ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object + ShowerHead_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__plus_00_dot_88 - object + Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 - object + Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 - object + SoapBar_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__plus_05_dot_08 - object + SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_73 - object + SoapBar_bar__minus_03_dot_54_bar__plus_00_dot_19_bar__plus_03_dot_08 - object + SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_56 - object + SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_01_dot_48 - object + SprayBottle_bar__minus_00_dot_44_bar__plus_00_dot_04_bar__plus_04_dot_89 - object + TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77 - object + TissueBox_bar__minus_01_dot_01_bar__plus_00_dot_96_bar__plus_04_dot_80 - object + ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71 - object + ToiletPaper_bar__minus_03_dot_14_bar__plus_00_dot_67_bar__plus_03_dot_97 - object + Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 - 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_9_bar_13_bar_0_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 SprayBottle_bar__minus_00_dot_44_bar__plus_00_dot_04_bar__plus_04_dot_89 SprayBottleType) + (objectType SoapBar_bar__minus_03_dot_54_bar__plus_00_dot_19_bar__plus_03_dot_08 SoapBarType) + (objectType HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelType) + (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_00_dot_10_bar__plus_01_dot_05_bar__plus_03_dot_35 CandleType) + (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 Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelType) + (objectType TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77 TissueBoxType) + (objectType HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 HandTowelType) + (objectType Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29 ClothType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 WindowType) + (objectType SoapBar_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__plus_05_dot_08 SoapBarType) + (objectType ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 ScrubBrushType) + (objectType TissueBox_bar__minus_01_dot_01_bar__plus_00_dot_96_bar__plus_04_dot_80 TissueBoxType) + (objectType ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 ShowerDoorType) + (objectType ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_73 SoapBarType) + (objectType SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_01_dot_48 SoapBottleType) + (objectType Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 MirrorType) + (objectType Cloth_bar__minus_03_dot_59_bar__plus_00_dot_19_bar__plus_03_dot_29 ClothType) + (objectType SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_56 SoapBottleType) + (objectType ToiletPaper_bar__minus_03_dot_14_bar__plus_00_dot_67_bar__plus_03_dot_97 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 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 SprayBottle_bar__minus_00_dot_44_bar__plus_00_dot_04_bar__plus_04_dot_89) + (pickupable SoapBar_bar__minus_03_dot_54_bar__plus_00_dot_19_bar__plus_03_dot_08) + (pickupable HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11) + (pickupable Candle_bar__minus_00_dot_10_bar__plus_01_dot_05_bar__plus_03_dot_35) + (pickupable Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43) + (pickupable TissueBox_bar__minus_00_dot_29_bar__plus_00_dot_04_bar__plus_04_dot_77) + (pickupable HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81) + (pickupable Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29) + (pickupable SoapBar_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__plus_05_dot_08) + (pickupable ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86) + (pickupable TissueBox_bar__minus_01_dot_01_bar__plus_00_dot_96_bar__plus_04_dot_80) + (pickupable ToiletPaper_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_03_dot_71) + (pickupable SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_73) + (pickupable SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_01_dot_48) + (pickupable Cloth_bar__minus_03_dot_59_bar__plus_00_dot_19_bar__plus_03_dot_29) + (pickupable SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_56) + (pickupable ToiletPaper_bar__minus_03_dot_14_bar__plus_00_dot_67_bar__plus_03_dot_97) + + (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_9_bar_13_bar_0_bar_30) + + (cleanable SoapBar_bar__minus_03_dot_54_bar__plus_00_dot_19_bar__plus_03_dot_08) + (cleanable Cloth_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_29) + (cleanable SoapBar_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__plus_05_dot_08) + (cleanable SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_73) + (cleanable Cloth_bar__minus_03_dot_59_bar__plus_00_dot_19_bar__plus_03_dot_29) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_03_dot_59_bar__plus_00_dot_19_bar__plus_03_dot_29 Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_03_dot_54_bar__plus_00_dot_19_bar__plus_03_dot_08 Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin) + (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 SprayBottle_bar__minus_00_dot_44_bar__plus_00_dot_04_bar__plus_04_dot_89 Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle SoapBar_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__plus_05_dot_08 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle TissueBox_bar__minus_01_dot_01_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_10_bar__plus_00_dot_96_bar__plus_04_dot_73 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43) + (inReceptacle SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_01_dot_48 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle Cloth_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 SoapBottle_bar__minus_03_dot_77_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 HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15) + (inReceptacle HandTowel_bar__minus_00_dot_11_bar__plus_01_dot_47_bar__plus_04_dot_81 HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81) + (inReceptacle 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_10_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 Cloth_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 TissueBox_bar__minus_01_dot_01_bar__plus_00_dot_96_bar__plus_04_dot_80 loc_bar__minus_4_bar_17_bar_0_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_73 loc_bar__minus_4_bar_17_bar_0_bar_45) + (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 SoapBottle_bar__minus_03_dot_77_bar__plus_00_dot_55_bar__plus_00_dot_56 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation SoapBar_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__plus_05_dot_08 loc_bar__minus_4_bar_17_bar_0_bar_45) + (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_10_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_01_dot_48 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_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 loc_bar__minus_2_bar_11_bar_1_bar_30) + (objectAtLocation 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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 + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r BathtubBasinType) + (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-BathtubBasin-402/trial_T20190908_004423_301232/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-BathtubBasin-402/trial_T20190908_004423_301232/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..45b9cd6dca22b4e05cf89e726cdd99408ffbeb4f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-BathtubBasin-402/trial_T20190908_004423_301232/traj_data.json @@ -0,0 +1,3992 @@ +{ + 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Turn it off and take the soap out.", + "Carry the soap and turn left to go to the bath tub.", + "Place the soap inside the bath tub, towards the middle." + ], + "task_desc": "Rinse a bar of soap and move it to the bath tub.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3KRVW3HTZQ2MNQJVMCC5RUALC48MSA", + "high_descs": [ + "Turn right, head to toilet, turn left, go to sink on the right.", + "Pick up the soap next to the sink. ", + "Wash the soap in the sink with water. ", + "Bring the washed soap to the tub on the left.", + "Put the soap in the tub." + ], + "task_desc": "Put wet soap in the tub. ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3S3AMIZX3XM3CFOMCXN2TZJ9HUHCDP", + "high_descs": [ + "Walk to the kitchen sink on the right.", + "Grab the pink bar of soap.", + "Place the soap inside the sink, then soak it.", + "Grab the wet bar of soap and walk to the bathtub.", + "Place the bar of soap inside the bathtub." + ], + "task_desc": "Get a wet bar of soap inside the bathtub.", + "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-BathtubBasin-402/trial_T20190908_184105_132211/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-BathtubBasin-402/trial_T20190908_184105_132211/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3b7f5fa4170968f18780a7de9ec0e49ddab53198 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-BathtubBasin-402/trial_T20190908_184105_132211/initial_state.pddl @@ -0,0 +1,520 @@ + +(define (problem plan_trial_T20190908_184105_132211) +(: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 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SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 - object + SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_09 - object + SprayBottle_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_04_dot_80 - object + SprayBottle_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_11 - object + TissueBox_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_04_dot_95 - object + TissueBox_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_04_dot_77 - object + TissueBox_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_01_dot_11 - object + ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__plus_03_dot_16 - object + ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_04_dot_81 - object + Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 - 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_2_bar_15_bar_2_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 TissueBox_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_04_dot_95 TissueBoxType) + (objectType TissueBox_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_01_dot_11 TissueBoxType) + (objectType Candle_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_42 CandleType) + (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 LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 LightSwitchType) + (objectType Candle_bar__minus_03_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_80 CandleType) + (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType) + (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 Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelType) + (objectType SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 SoapBottleType) + (objectType Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelType) + (objectType SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_09 SprayBottleType) + (objectType Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_56 ClothType) + (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 ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 ShowerDoorType) + (objectType ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__plus_03_dot_16 ToiletPaperType) + (objectType ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_04_dot_81 ToiletPaperType) + (objectType TissueBox_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_04_dot_77 TissueBoxType) + (objectType Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 MirrorType) + (objectType Cloth_bar__minus_03_dot_36_bar__plus_00_dot_19_bar__plus_03_dot_36 ClothType) + (objectType SoapBar_bar__minus_03_dot_39_bar__plus_00_dot_19_bar__plus_03_dot_57 SoapBarType) + (objectType SprayBottle_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_11 SprayBottleType) + (objectType Candle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 CandleType) + (objectType SprayBottle_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_04_dot_80 SprayBottleType) + (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 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Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_03_dot_39_bar__plus_00_dot_19_bar__plus_03_dot_57 Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_04_dot_81 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle SprayBottle_bar__minus_01_dot_05_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 TissueBox_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_04_dot_77 Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle TissueBox_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_04_dot_95 Cabinet_bar__minus_01_dot_96_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 Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43) + (inReceptacle TissueBox_bar__minus_03_dot_66_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 SoapBottle_bar__minus_03_dot_71_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 SprayBottle_bar__minus_03_dot_83_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_60_bar__plus_00_dot_55_bar__plus_00_dot_74 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle Cloth_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_00_dot_56 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Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_5_bar_15_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_7_bar_15_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_5_bar_15_bar_0_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 loc_bar__minus_4_bar_17_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 loc_bar__minus_11_bar_16_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 loc_bar__minus_2_bar_16_bar_0_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 loc_bar__minus_9_bar_18_bar_0_bar_15) + (receptacleAtLocation Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 loc_bar__minus_9_bar_8_bar_3_bar_30) + (receptacleAtLocation Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_2_bar_17_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_6_bar_17_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 loc_bar__minus_2_bar_15_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 loc_bar__minus_2_bar_10_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 loc_bar__minus_2_bar_11_bar_1_bar_30) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_05_bar__plus_00_dot_96_bar__plus_04_dot_80 loc_bar__minus_4_bar_17_bar_0_bar_45) + (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_01_dot_80_bar__plus_00_dot_04_bar__plus_04_dot_77 loc_bar__minus_5_bar_15_bar_0_bar_60) + (objectAtLocation Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 loc_bar__minus_2_bar_11_bar_1_bar_30) + (objectAtLocation Candle_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_03_dot_42 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation SprayBottle_bar__minus_03_dot_83_bar__plus_00_dot_54_bar__plus_01_dot_11 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation Candle_bar__minus_03_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_80 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_03_dot_66_bar__plus_00_dot_54_bar__plus_01_dot_11 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_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 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_39_bar__plus_00_dot_19_bar__plus_03_dot_57 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__plus_03_dot_16 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_04_dot_95 loc_bar__minus_5_bar_15_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_36_bar__plus_00_dot_19_bar__plus_03_dot_36 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_96_bar__plus_04_dot_81 loc_bar__minus_4_bar_17_bar_0_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_09 loc_bar__minus_2_bar_10_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 + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r BathtubBasinType) + (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-BathtubBasin-402/trial_T20190908_184105_132211/traj_data.json 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"task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3EFE17QCRFM0VCIKVFWSZP2PVJ2HSR", + "high_descs": [ + "Turn around and walk to the sink", + "Turn left from the sink and walk forward", + "Turn left and walk to the tub", + "Grab the soap from the tub", + "Bring the soap back to the sink", + "Turn around and return the soap to the shower" + ], + "task_desc": "Bring the soap from the tub to the sink and return the soap to the tub.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3MHW492WW3U2FI0ZG7HA2HUSB9VMVA", + "high_descs": [ + "Turn to your right then move forward then turn left head towards the back of the faucet of the tub", + "Pick up the soap in the tub", + "Turn to your left then move forward head to the sink on your left", + "Put the soap in the sink and rinse it ", + "Turn to your left then walk forward then turn left then walk straight to the tub", + "Put the soap in the tub" + ], + "task_desc": "Put the clean soap in the tub", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3SB5N7Y3O6LMU73X27VQ4JK5LQN0G3", + "high_descs": [ + "turn right, walk to the tub", + "grab the pink bar from the tub", + "turn left, walk to the sink on the left", + "put the bar in the sink, wash the bar in the sink, take the bar out", + "turn left, walk to the side of tub", + "put the pink bar in the tub" + ], + "task_desc": "wash the pink bar from the tub and put it back ", + "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-416/trial_T20190909_032310_871218/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032310_871218/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..aee19ac451642d133775d73def200902ec804c66 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032310_871218/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_T20190909_032310_871218)\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_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73 - object\n Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55 - object\n Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40 - object\n SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83 - object\n SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68 - object\n SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30 - object\n SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68 - object\n ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 - object\n ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_4_bar_7_bar_3_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_5_bar_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83 SoapBottleType)\n (objectType Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73 CandleType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68 SprayBottleType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 SprayBottleType)\n (objectType SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40 SoapBarType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55 CandleType)\n (objectType Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46 ClothType)\n (objectType SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30 SprayBottleType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81 ToiletPaperType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 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 HandTowelHolderType 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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType 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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 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 SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83)\n (pickupable Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73)\n (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86)\n (pickupable SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40)\n (pickupable Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55)\n (pickupable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46)\n (pickupable SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68)\n (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_5_bar_5_bar_3_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40)\n (cleanable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00)\n (inReceptacle SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34)\n (inReceptacle SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34)\n (inReceptacle ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 loc_bar__minus_4_bar_7_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30 loc_bar__minus_3_bar_3_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o SoapBarType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take soapbar 1 from garbagecan 1", "go to sinkbasin 2", "clean soapbar 1 with sinkbasin 2", "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-416/trial_T20190909_032310_871218/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032310_871218/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8d81be29a3ed0facbbce441b651490bf90b13521 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032310_871218/initial_state.pddl @@ -0,0 +1,439 @@ + +(define (problem plan_trial_T20190909_032310_871218) +(: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_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73 - object + Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55 - object + Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46 - object + Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object + HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object + Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object + ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object + ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object + SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40 - object + SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83 - object + SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 - object + SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68 - object + SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 - object + SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30 - object + SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68 - object + ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 - object + ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81 - object + Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object + Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object + CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle + GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle + HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle + HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle + Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle + TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_3_bar_3_bar_2_bar_45 - location + loc_bar_0_bar_12_bar_3_bar_45 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_3_bar_9_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_60 - location + loc_bar_0_bar_10_bar_3_bar_45 - location + loc_bar__minus_4_bar_7_bar_3_bar_45 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar__minus_4_bar_13_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_3_bar_15 - location + loc_bar__minus_5_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_3_bar_3_bar_60 - location + loc_bar__minus_4_bar_12_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_15 - location + loc_bar__minus_3_bar_3_bar_2_bar_15 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar__minus_3_bar_3_bar_3_bar_15 - location + loc_bar__minus_5_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType) + (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 SoapBottleType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType) + (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType) + (objectType SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83 SoapBottleType) + (objectType Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73 CandleType) + (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType) + (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68 SprayBottleType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType) + (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType) + (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType) + (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 ToiletPaperType) + (objectType SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 SprayBottleType) + (objectType SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40 SoapBarType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType) + (objectType Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55 CandleType) + (objectType Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46 ClothType) + (objectType SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30 SprayBottleType) + (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68 SoapBottleType) + (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81 ToiletPaperType) + (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType) + (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType) + (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType) + (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 GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 TowelHolderType TowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93) + (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33) + (pickupable SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83) + (pickupable Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73) + (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68) + (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14) + (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86) + (pickupable SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88) + (pickupable SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40) + (pickupable Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55) + (pickupable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46) + (pickupable SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30) + (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68) + (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81) + (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36) + (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96) + + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar__minus_5_bar_5_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40) + (cleanable Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00) + (inReceptacle SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34) + (inReceptacle SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34) + (inReceptacle ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + + + (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_68 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_68 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_85_bar__plus_01_dot_09_bar__plus_00_dot_55 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15) + (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_40 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_81 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_46 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_00_dot_72_bar__plus_01_dot_86 loc_bar__minus_4_bar_7_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_74_bar__plus_00_dot_05_bar__plus_01_dot_30 loc_bar__minus_3_bar_3_bar_3_bar_60) + ) + + + (: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-416/trial_T20190909_032310_871218/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032310_871218/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..529c3f949b7a5498b8c17a319f72b60e77069d9f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032310_871218/traj_data.json @@ -0,0 +1,4039 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + 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", + "Pick up the bar of soap from the gray bin. ", + "Walk to the counter to the right of the toilet. ", + "Put the bar of soap in the sink on the right, rinse off the bar of soap, pick up the bar of soap. ", + "Walk over to the left side of the counter. ", + "Put the soap down on the counter to the right of the left sink. " + ], + "task_desc": "To rinse off a bar of soap and put it on the counter. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3GD6L00D3VOUEV6Z51M2WF7EGUQ1MD", + "high_descs": [ + "Look down.", + "Take the soap out of the garbage bin.", + "Take a couple steps right.", + "Rinse the soap in the right sink.", + "Take a step left.", + "Place the soap on the counter between the two sinks, to the left of the soap bottles." + ], + "task_desc": "Place a rinsed bar of soap on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3J88R45B2JP8PZO54AZ18S5AQEFXPW", + "high_descs": [ + "Look down at the gray bin on the floor next to the toilet.", + "Pick up the bar of soap from inside the gray bin.", + "Turn around, turn left and walk to the middle of the vanity on the left.", + "Put the bar of soap inside the right sink, rinse it for a few seconds and pick it back up.", + "Turn around and head right to the left sink on the vanity counter.", + "Put the rinsed bar of soap to the right of the left sink on the counter next to the candle." + ], + "task_desc": "Place a rinsed bar of soap on a 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-416/trial_T20190909_032422_085040/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032422_085040/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7f7aa77fff92c5f35854ec6332dd18af2c6a4eae --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032422_085040/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_T20190909_032422_085040)\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_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83 - object\n Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83 - object\n Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60 - object\n Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98 - object\n SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73 - object\n SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68 - object\n SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37 - object\n SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73 - object\n SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75 - object\n SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 - object\n ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06 - object\n ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93 - object\n ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13 ClothType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37 SoapBarType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60 ClothType)\n (objectType Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83 CandleType)\n (objectType Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06 ToiletPaperType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98 SoapBarType)\n (objectType SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88 ToiletPaperType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 SprayBottleType)\n (objectType Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40 ClothType)\n (objectType ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93 ToiletPaperType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68 SoapBarType)\n (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88 CandleType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 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 HandTowelHolderType 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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType 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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 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 Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13)\n (pickupable SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73)\n (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60)\n (pickupable Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83)\n (pickupable Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75)\n (pickupable ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06)\n (pickupable SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98)\n (pickupable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73)\n (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88)\n (pickupable SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62)\n (pickupable Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40)\n (pickupable ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68)\n (pickupable Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88)\n (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar_1_bar_2_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13)\n (cleanable SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37)\n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60)\n (cleanable SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98)\n (cleanable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73)\n (cleanable Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40)\n (cleanable SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00)\n (inReceptacle SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34)\n (inReceptacle ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_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 SoapBarType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take soapbar 1 from garbagecan 1", "go to sinkbasin 2", "clean soapbar 1 with sinkbasin 2", "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-416/trial_T20190909_032422_085040/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032422_085040/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..395bc49d47951c31e300bae43c762d3114e67acc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_032422_085040/initial_state.pddl @@ -0,0 +1,469 @@ + +(define (problem plan_trial_T20190909_032422_085040) +(: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_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83 - object + Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83 - object + Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88 - object + Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13 - object + Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60 - object + Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40 - object + Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object + HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object + Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object + ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object + ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object + SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98 - object + SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73 - object + SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68 - object + SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37 - object + SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73 - object + SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73 - object + SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75 - object + SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 - object + ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06 - object + ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93 - object + ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88 - object + Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object + Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object + CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle + GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle + HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle + HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle + Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle + TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle + loc_bar__minus_5_bar_5_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar_0_bar_12_bar_3_bar_45 - location + loc_bar__minus_4_bar_13_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_11_bar_3_bar_15 - location + loc_bar_0_bar_10_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_3_bar_15 - location + loc_bar__minus_4_bar_12_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_15 - location + loc_bar__minus_3_bar_3_bar_2_bar_15 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar__minus_3_bar_9_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType) + (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13 ClothType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType) + (objectType SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37 SoapBarType) + (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType) + (objectType SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType) + (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60 ClothType) + (objectType Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83 CandleType) + (objectType Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83 CandleType) + (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75 SoapBottleType) + (objectType ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06 ToiletPaperType) + (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType) + (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType) + (objectType SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73 SoapBottleType) + (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType) + (objectType SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98 SoapBarType) + (objectType SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88 ToiletPaperType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType) + (objectType SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 SprayBottleType) + (objectType Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40 ClothType) + (objectType ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93 ToiletPaperType) + (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType) + (objectType SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68 SoapBarType) + (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88 CandleType) + (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType) + (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType) + (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 GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 TowelHolderType TowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13) + (pickupable SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37) + (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33) + (pickupable SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73) + (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60) + (pickupable Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83) + (pickupable Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83) + (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75) + (pickupable ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06) + (pickupable SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73) + (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14) + (pickupable SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98) + (pickupable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73) + (pickupable ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88) + (pickupable SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62) + (pickupable Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40) + (pickupable ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93) + (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36) + (pickupable SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68) + (pickupable Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88) + (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96) + + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar_1_bar_2_bar_2_bar_30) + + (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13) + (cleanable SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37) + (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60) + (cleanable SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98) + (cleanable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73) + (cleanable Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40) + (cleanable SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + (inReceptacle Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00) + (inReceptacle SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37 GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34) + (inReceptacle ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + + + (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_03_dot_60 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_87_bar__plus_01_dot_04_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_37_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_73 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_77_bar__plus_00_dot_04_bar__plus_01_dot_37 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_24_bar__plus_01_dot_73 loc_bar_0_bar_10_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_53_bar__plus_00_dot_24_bar__plus_02_dot_40 loc_bar_0_bar_10_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15) + (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_01_dot_05_bar__plus_00_dot_75 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__plus_02_dot_68 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_06 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_90_bar__plus_01_dot_05_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60) + ) + + + (: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 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"objectName": "SprayBottle_da02cdb4", + "position": { + "x": -1.89915454, + "y": 1.04703689, + "z": 0.616987944 + }, + "rotation": { + "x": 0.0, + "y": 90.0004959, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2732674307, + "scene_num": 416 + }, + "task_id": "trial_T20190909_032422_085040", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2RVDEU138ZF9P_38F5OAUN5Q3MX3KQ3KNY5KQV2T97HN", + "high_descs": [ + "Turn around and walk forward, then turn left at the bathroom sink.", + "Pick up the pink soap bar from the counter.", + "Place the soap bar inside the sink and turn on the faucet, then turn it off and pick up the soap.", + "Turn left and walk towards the adjacent sink.", + "Place the soap bar on the counter next to the candle." + ], + "task_desc": "Wash the bar of soap and place it on the sink counter. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3SBEHTYCWQU58IRBWBVJI9B765WYI7", + "high_descs": [ + "turn right, take a step, turn right, walk forward, turn left, walk to counter", + "pick up the pink bar of soap that is on the counter", + "put the pink bar of soap in the sink on the right, fill the sink with water, take the bar of soap out", + "turn around, take a step, turn right, take a few steps, turn right to face sink", + "put the soap on the counter to the right of the sink" + ], + "task_desc": "put wet soap on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3WRFBPLXRDFW6G5E46FLXNBBJ3V3NM", + "high_descs": [ + "turn around and walk over to the bathroom sink on the left side end of the room", + "grab a bar of soap off of the bathroom counter there", + "place the soap inside the right side bathroom sink, rinse it off then take it back out", + "turn left and walk over to the left side bathroom sink on the right", + "place the bar of soap down on the bathroom sink counter to the right of the left side sink" + ], + "task_desc": "place a clean bar of soap on top of the bathroom sink 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-416/trial_T20190909_090331_330612/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_090331_330612/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d9531e0a6ae73f77dfcfbf2bb6a42d8bd5cf4026 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_090331_330612/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 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_090331_330612)\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_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98 - object\n Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78 - object\n Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88 - object\n Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 - object\n Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object\n Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object\n HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object\n Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object\n ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object\n ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object\n SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 - object\n SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13 - object\n SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 - object\n SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62 - object\n SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75 - object\n SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 - object\n ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object\n ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20 - object\n ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62 - object\n Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object\n Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object\n CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle\n Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle\n GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle\n HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle\n HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle\n Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle\n TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_5_bar_5_bar_2_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar_0_bar_12_bar_3_bar_45 - location\n loc_bar__minus_4_bar_13_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_3_bar_15 - location\n loc_bar_0_bar_10_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_11_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_60 - location\n loc_bar__minus_3_bar_3_bar_3_bar_15 - location\n loc_bar__minus_4_bar_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_15 - location\n loc_bar__minus_3_bar_3_bar_2_bar_15 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar__minus_3_bar_9_bar_3_bar_45 - location\n loc_bar__minus_4_bar_12_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType)\n (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType)\n (objectType SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75 SoapBottleType)\n (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType)\n (objectType SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62 SoapBarType)\n (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 SprayBottleType)\n (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78 CandleType)\n (objectType ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20 ToiletPaperType)\n (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType)\n (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType)\n (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType)\n (objectType SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBarType)\n (objectType Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88 CandleType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType)\n (objectType Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98 CandleType)\n (objectType ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13 SoapBarType)\n (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 ClothType)\n (objectType SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 SoapBarType)\n (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType)\n (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType)\n (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType)\n (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 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 HandTowelHolderType 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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType 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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 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 SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75)\n (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33)\n (pickupable SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62)\n (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93)\n (pickupable Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78)\n (pickupable ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20)\n (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (pickupable SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (pickupable Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88)\n (pickupable Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98)\n (pickupable ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62)\n (pickupable SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13)\n (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93)\n (pickupable SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78)\n (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36)\n (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05)\n (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96)\n \n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n \n (atLocation agent1 loc_bar__minus_4_bar_12_bar_1_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62)\n (cleanable SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88)\n (cleanable SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13)\n (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93)\n (cleanable SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33)\n (inReceptacle SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83)\n (inReceptacle SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13)\n (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00)\n (inReceptacle ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00)\n (inReceptacle SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n (inReceptacle Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69)\n \n \n (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15)\n (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15)\n (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 loc_bar_0_bar_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_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 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 4 from countertop 1", "go to sinkbasin 2", "clean soapbar 4 with sinkbasin 2", "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-416/trial_T20190909_090331_330612/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_090331_330612/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1689b09eb2e079b25c68bdd2cca51027a286d81c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-CounterTop-416/trial_T20190909_090331_330612/initial_state.pddl @@ -0,0 +1,447 @@ + +(define (problem plan_trial_T20190909_090331_330612) +(: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_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98 - object + Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78 - object + Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88 - object + Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 - object + Faucet_bar__plus_00_dot_85_bar__plus_01_dot_80_bar__plus_01_dot_11 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_02_dot_29 - object + Faucet_bar__minus_01_dot_93_bar__plus_00_dot_72_bar__plus_03_dot_37 - object + HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 - object + Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 - object + ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 - object + ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 - object + SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 - object + SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13 - object + SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 - object + SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62 - object + SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75 - object + SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 - object + ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 - object + ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20 - object + ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62 - object + Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 - object + Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 - object + CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 - receptacle + Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 - receptacle + GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 - receptacle + HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 - receptacle + HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 - receptacle + Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 - receptacle + TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 - receptacle + loc_bar__minus_5_bar_5_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar_0_bar_12_bar_3_bar_45 - location + loc_bar__minus_4_bar_13_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_11_bar_3_bar_15 - location + loc_bar_0_bar_10_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_11_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_3_bar_15 - location + loc_bar__minus_4_bar_12_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_15 - location + loc_bar__minus_3_bar_3_bar_2_bar_15 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar__minus_3_bar_9_bar_3_bar_45 - location + loc_bar__minus_4_bar_12_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 DrawerType) + (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 ToiletPaperHangerType) + (receptacleType Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 TowelHolderType) + (receptacleType Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 DrawerType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 SinkType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 LightSwitchType) + (objectType SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75 SoapBottleType) + (objectType Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 PlungerType) + (objectType SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62 SoapBarType) + (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 SprayBottleType) + (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78 CandleType) + (objectType ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20 ToiletPaperType) + (objectType Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 WindowType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 WindowType) + (objectType Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 MirrorType) + (objectType ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 ScrubBrushType) + (objectType SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 SoapBarType) + (objectType Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88 CandleType) + (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 SinkType) + (objectType Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98 CandleType) + (objectType ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13 SoapBarType) + (objectType Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 ClothType) + (objectType SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 SoapBarType) + (objectType Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelType) + (objectType ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperType) + (objectType ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 ShowerDoorType) + (objectType HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelType) + (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 GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 TowelHolderType TowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (pickupable SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75) + (pickupable Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33) + (pickupable SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62) + (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93) + (pickupable Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78) + (pickupable ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20) + (pickupable ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14) + (pickupable SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88) + (pickupable Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88) + (pickupable Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98) + (pickupable ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62) + (pickupable SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13) + (pickupable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93) + (pickupable SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78) + (pickupable Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36) + (pickupable ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05) + (pickupable HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96) + + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (openable Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + + (atLocation agent1 loc_bar__minus_4_bar_12_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62) + (cleanable SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88) + (cleanable SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13) + (cleanable Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93) + (cleanable SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33) + (inReceptacle SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78 CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83) + (inReceptacle SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13 Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13) + (inReceptacle Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00) + (inReceptacle ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00) + (inReceptacle SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + (inReceptacle Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88 Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69) + + + (receptacleAtLocation CounterTop_bar__minus_01_dot_61_bar__plus_00_dot_70_bar__plus_02_dot_83 loc_bar__minus_3_bar_9_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_34_bar__plus_00_dot_30_bar__plus_03_dot_33 loc_bar_0_bar_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_01_dot_34 loc_bar__minus_3_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_51_bar__plus_01_dot_56_bar__plus_04_dot_00 loc_bar__minus_4_bar_14_bar_3_bar_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_00_bar__plus_01_dot_69_bar__plus_01_dot_32 loc_bar__minus_5_bar_5_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28_bar_SinkBasin loc_bar__minus_4_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37_bar_SinkBasin loc_bar__minus_4_bar_12_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_00 loc_bar__minus_3_bar_3_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_69 loc_bar__minus_5_bar_5_bar_2_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_87_bar__plus_01_dot_16_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_55_bar__plus_00_dot_62_bar__plus_00_dot_05 loc_bar__minus_3_bar_3_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_72_bar__plus_00_dot_73_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__plus_02_dot_78 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_87_bar__plus_01_dot_09_bar__plus_00_dot_88 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_61_bar__plus_00_dot_24_bar__plus_02_dot_13 loc_bar_0_bar_10_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_87_bar__plus_01_dot_05_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_3_bar_60) + (objectAtLocation ShowerDoor_bar__plus_00_dot_57_bar__plus_01_dot_02_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_92_bar__plus_01_dot_41_bar__plus_02_dot_76 loc_bar__minus_4_bar_11_bar_3_bar_15) + (objectAtLocation Sink_bar__minus_01_dot_70_bar__plus_00_dot_62_bar__plus_02_dot_28 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_63_bar__plus_00_dot_77_bar__plus_02_dot_98 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_15) + (objectAtLocation Plunger_bar__minus_01_dot_69_bar__plus_00_dot_00_bar__plus_00_dot_33 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_87_bar__plus_01_dot_17_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_82_bar__plus_01_dot_05_bar__plus_00_dot_75 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_46_bar__plus_00_dot_73_bar__plus_02_dot_88 loc_bar__minus_3_bar_9_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_57_bar__plus_00_dot_24_bar__plus_03_dot_20 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_49_bar__plus_00_dot_24_bar__plus_02_dot_93 loc_bar_0_bar_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_82_bar__plus_01_dot_04_bar__plus_00_dot_62 loc_bar__minus_5_bar_5_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_04_bar__plus_01_dot_40_bar__plus_00_dot_02 loc_bar__minus_3_bar_3_bar_2_bar_15) + (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_40_bar__plus_00_dot_71 loc_bar__minus_3_bar_3_bar_3_bar_15) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_27_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_14 loc_bar__minus_3_bar_3_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_73_bar__plus_02_dot_93 loc_bar__minus_3_bar_9_bar_3_bar_45) + ) + + + (: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 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+ "z": 2.92729878 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2013771030, + "scene_num": 416 + }, + "task_id": "trial_T20190909_090331_330612", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A38Z99XF4NDNH0_31QTRG6Q2W4XP4EF96L3R6CJSJSYPK", + "high_descs": [ + "Turn around facing the bar of soap on the edge of the counter closest to you", + "Place the bar of soap in the right sink", + "Turn on the water, wash the soap, pick up the soap and turn off the water", + "Move to the sink on the left side", + "Place the soap to the right of the sink on the counter in front of the other bar of soap" + ], + "task_desc": "Wash soap to return to counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3DR23U6WE85XBRQVQMITPDL0ZAAETS", + "high_descs": [ + "Turn around to face the sink.", + "Pick up the pink bar of soap that's in front of you close to the edge of the counter.", + "Get the soap wet in the right sink and then pick it back up and shut off the water.", + "Take two steps to your left to face the left sink.", + "Put the soap near the edge to the right of the left sink." + ], + "task_desc": "Put a wet bar of soap on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3PW9OPU9PTB47R26VJ3IH6TGAOP211", + "high_descs": [ + "Turn around towards the counter top.", + "Pick up the bar of soap closest to you from the counter.", + "Put the bar of soap in the sink on the right, rinse it off, and take it back out.", + "Turn left and walk to the sink on the left, then turn right towards the counter.", + "Put the bar of soap back onto the counter, in front of and to the right of the sink on the left." + ], + "task_desc": "Put a cleaned bar of soap on a 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-GarbageCan-426/trial_T20190908_060518_031180/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060518_031180/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b4c1bdf30c71163238ab329be7e5a0ae55e6e960 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060518_031180/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 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_060518_031180)\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_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object\n Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13 - object\n Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 - object\n Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39 - object\n Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n Faucet_bar__minus_00_dot_46_bar__plus_00_dot_97_bar__plus_03_dot_21 - object\n Faucet_bar__minus_03_dot_54_bar__plus_01_dot_82_bar__plus_01_dot_82 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 - object\n LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 - object\n Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 - object\n Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 - object\n ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 - object\n ShowerCurtain_bar__minus_03_dot_32_bar__plus_02_dot_57_bar__plus_00_dot_27 - object\n Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 - object\n SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 - object\n SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46 - object\n SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 - object\n SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35 - object\n SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58 - object\n TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24 - object\n TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22 - object\n ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09 - object\n ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33 - object\n Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 - object\n Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 - object\n Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle\n Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle\n Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_3_bar_10_bar_0_bar_0 - location\n loc_bar__minus_10_bar_3_bar_2_bar_0 - location\n loc_bar__minus_7_bar_6_bar_0_bar_60 - location\n loc_bar__minus_5_bar_6_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_11_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_9_bar_0_bar_60 - location\n loc_bar__minus_3_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_1_bar_60 - location\n loc_bar__minus_5_bar_11_bar_0_bar_60 - location\n loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location\n loc_bar__minus_2_bar_9_bar_0_bar_60 - location\n loc_bar__minus_11_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_8_bar_1_bar_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_3_bar_2_bar_45 - location\n loc_bar__minus_7_bar_7_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType)\n (objectType SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42 SprayBottleType)\n (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType)\n (objectType ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22 ToiletPaperType)\n (objectType Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13 CandleType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelType)\n (objectType Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39 CandleType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelType)\n (objectType SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 SoapBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33 ToiletPaperType)\n (objectType ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09 ToiletPaperType)\n (objectType SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58 SprayBottleType)\n (objectType SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35 SprayBottleType)\n (objectType Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 ClothType)\n (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType)\n (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType)\n (objectType SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 SoapBarType)\n (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType)\n (objectType TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24 TissueBoxType)\n (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType)\n (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType)\n (objectType Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 CandleType)\n (objectType TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 TissueBoxType)\n (objectType SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46 SoapBarType)\n (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType)\n (objectType Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 ClothType)\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 TissueBoxType)\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 TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType 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 TissueBoxType)\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 TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\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 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 TissueBoxType)\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 TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\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 ToiletType TissueBoxType)\n (pickupable SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23)\n (pickupable ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22)\n (pickupable Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11)\n (pickupable Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11)\n (pickupable SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29)\n (pickupable ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33)\n (pickupable ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09)\n (pickupable SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58)\n (pickupable SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35)\n (pickupable Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96)\n (pickupable SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18)\n (pickupable TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24)\n (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03)\n (pickupable Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45)\n (pickupable TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22)\n (pickupable SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46)\n (pickupable Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22)\n \n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n \n (atLocation agent1 loc_bar__minus_7_bar_7_bar_1_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (cleanable Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (cleanable SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18)\n (cleanable SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46)\n (cleanable Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46 Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00)\n (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96)\n (inReceptacle ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 loc_bar__minus_3_bar_10_bar_0_bar_0)\n (objectAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 loc_bar__minus_4_bar_11_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o SoapBarType)\n (receptacleType ?r GarbageCanType)\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 garbagecan 1", "move soapbar 1 to garbagecan 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-GarbageCan-426/trial_T20190908_060518_031180/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060518_031180/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e3a3b3698d9df2e40bc9b2da9a00c8269fe2802d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060518_031180/initial_state.pddl @@ -0,0 +1,544 @@ + +(define (problem plan_trial_T20190908_060518_031180) +(: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_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object + Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13 - object + Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 - object + Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39 - object + Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 - object + Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 - object + Faucet_bar__minus_00_dot_46_bar__plus_00_dot_97_bar__plus_03_dot_21 - object + Faucet_bar__minus_03_dot_54_bar__plus_01_dot_82_bar__plus_01_dot_82 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 - object + Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 - object + Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 - object + ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 - object + ShowerCurtain_bar__minus_03_dot_32_bar__plus_02_dot_57_bar__plus_00_dot_27 - object + Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 - object + SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 - object + SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46 - object + SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 - object + SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 - object + SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42 - object + SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35 - object + SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58 - object + TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24 - object + TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 - object + ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22 - object + ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09 - object + ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33 - object + Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 - object + Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 - object + Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object + Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle + CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle + Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle + Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle + Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle + TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle + TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle + loc_bar__minus_3_bar_10_bar_0_bar_0 - location + loc_bar__minus_10_bar_3_bar_2_bar_0 - location + loc_bar__minus_7_bar_6_bar_0_bar_60 - location + loc_bar__minus_5_bar_6_bar_2_bar_45 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_11_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_9_bar_0_bar_60 - location + loc_bar__minus_3_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_1_bar_60 - location + loc_bar__minus_5_bar_11_bar_0_bar_60 - location + loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location + loc_bar__minus_2_bar_9_bar_0_bar_60 - location + loc_bar__minus_11_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_8_bar_1_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_3_bar_2_bar_45 - location + loc_bar__minus_7_bar_7_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType) + (objectType SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42 SprayBottleType) + (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType) + (objectType ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22 ToiletPaperType) + (objectType Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13 CandleType) + (objectType Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelType) + (objectType Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39 CandleType) + (objectType Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelType) + (objectType SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 SoapBottleType) + (objectType ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33 ToiletPaperType) + (objectType ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09 ToiletPaperType) + (objectType SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58 SprayBottleType) + (objectType SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35 SprayBottleType) + (objectType Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 ClothType) + (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType) + (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType) + (objectType SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 SoapBarType) + (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType) + (objectType TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24 TissueBoxType) + (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType) + (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType) + (objectType Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 CandleType) + (objectType TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 TissueBoxType) + (objectType SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46 SoapBarType) + (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType) + (objectType Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 ClothType) + (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 DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 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 HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType 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 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 TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (pickupable SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42) + (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23) + (pickupable ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22) + (pickupable Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13) + (pickupable Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11) + (pickupable Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39) + (pickupable Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11) + (pickupable SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16) + (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29) + (pickupable ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33) + (pickupable ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09) + (pickupable SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58) + (pickupable SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35) + (pickupable Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96) + (pickupable SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18) + (pickupable TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24) + (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03) + (pickupable Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45) + (pickupable TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22) + (pickupable SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46) + (pickupable Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22) + + (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31) + + (atLocation agent1 loc_bar__minus_7_bar_7_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16) + (cleanable Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42) + (cleanable SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18) + (cleanable SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46) + (cleanable Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22) + + + + + + + + + + + (inReceptacle TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31) + (inReceptacle Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31) + (inReceptacle ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46 Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00) + (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96) + (inReceptacle ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50) + (inReceptacle Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50) + (inReceptacle SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50) + (inReceptacle Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15) + (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation ToiletPaper_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_33 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_35 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_46_bar__plus_00_dot_51_bar__plus_00_dot_46 loc_bar__minus_3_bar_5_bar_2_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_35_bar__plus_00_dot_95_bar__plus_02_dot_39 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_59_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_32_bar__plus_00_dot_20_bar__plus_00_dot_13 loc_bar__minus_5_bar_4_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 loc_bar__minus_3_bar_10_bar_0_bar_0) + (objectAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_01_dot_60_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation Cloth_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 loc_bar__minus_4_bar_11_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_27_bar__plus_00_dot_95_bar__plus_02_dot_58 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_21_bar__plus_00_dot_20_bar__plus_00_dot_24 loc_bar__minus_5_bar_4_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_33_bar__plus_00_dot_81_bar__plus_00_dot_09 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30) + (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0) + (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r GarbageCanType) + (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-GarbageCan-426/trial_T20190908_060518_031180/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060518_031180/traj_data.json new file mode 100644 index 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+ "position": { + "x": -0.200388253, + "y": 0.9823697, + "z": 3.18476534 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_0156cfc4", + "position": { + "x": -1.06786609, + "y": 0.808069766, + "z": 0.155723691 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "Candle_9473b390", + "position": { + "x": -2.220694, + "y": 0.953849852, + "z": 2.45250082 + }, + "rotation": { + "x": 0.0, + "y": 179.999725, + "z": 0.0 + } + }, + { + "objectName": "Candle_9473b390", + "position": { + "x": -1.32472229, + "y": 0.202148378, + "z": 0.1266427 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_f8d9d3d8", + "position": { + "x": -2.27427769, + "y": 0.9512377, + "z": 2.57750058 + }, + "rotation": { + "x": 0.0, + "y": 179.999725, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_f8d9d3d8", + "position": { + "x": -0.281933665, + "y": 0.805, + "z": 0.4175105 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "Towel_376680ac", + "position": { + "x": -2.554, + "y": 1.597, + "z": 0.1069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_263c6545", + "position": { + "x": -1.32984352, + "y": 0.805, + "z": 0.0902770162 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "Towel_376680ac", + "position": { + "x": -2.554, + "y": 0.873, + "z": 0.1069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_08a0c761", + "position": { + "x": -1.59182072, + "y": 0.8069264, + "z": 0.417511642 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "Candle_9473b390", + "position": { + "x": -2.354652, + "y": 0.9539769, + "z": 2.38999987 + }, + "rotation": { + "x": 0.0, + "y": 179.999725, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_bd5055e8", + "position": { + "x": -0.0383, + "y": 1.68, + "z": 2.956 + }, + "rotation": { + "x": 0.0, + "y": 90.00007, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_0156cfc4", + "position": { + "x": -0.457389474, + "y": 0.50820595, + "z": 0.4622141 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_d008e63d", + "position": { + "x": -0.281933665, + "y": 0.805, + "z": 0.221169949 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "Plunger_9ac4cec2", + "position": { + "x": -2.307833, + "y": 0.000400774181, + "z": 3.23158574 + }, + "rotation": { + "x": -0.001183682, + "y": 0.0004403221, + "z": 0.000778588641 + } + }, + { + "objectName": "SprayBottle_f8d9d3d8", + "position": { + "x": -0.5439111, + "y": 0.805, + "z": 0.3520639 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_a688aee8", + "position": { + "x": -1.32984352, + "y": 0.808699548, + "z": 0.221170783 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_263c6545", + "position": { + "x": -2.2206912, + "y": 0.950863838, + "z": 2.3275 + }, + "rotation": { + "x": 0.0, + "y": 179.999725, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_2d529c27", + "position": { + "x": -2.18917274, + "y": 0.00086376816, + "z": 3.02522182 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_dd61cf08", + "position": { + "x": -1.85379827, + "y": 0.8096635, + "z": 0.2866181 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 391519519, + "scene_num": 426 + }, + "task_id": "trial_T20190908_060518_031180", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_3BF51CHDTYR0U3Y8MDD8PJW60YRH0Q", + "high_descs": [ + "Go forward to the door, turn left, go forward to the sink.", + "Take the bar of soap from the sink.", + "Go around to the left side of the sink and face the right wall.", + "Wash the soap in the sink. Take the soap from the sink.", + "Turn to the left to face the blue wall.", + "Put the sink in the black bin below the sink." + ], + "task_desc": "Put a clean bar of soap in a bin.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3X4MXAO0BJ56RNDWBPINAI7GOD4WR6", + "high_descs": [ + "Move forward turn left and face the sink", + "Pick up the soap on the right side of the sink", + "Turn around to your right then move closer on the left side of the sink", + "Put the soap in the sink and rinse it", + "Pick up the soap then turn to your left", + "Drop the soap in the trash bin" + ], + "task_desc": "Put the clean soap on the trash bin", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3D3VGR7TA3W90PB8157L5LWJRPPR3L", + "high_descs": [ + "Walk straight and then veer left to the sink in the corner.", + "Pick up the soap on the sink near the faucet.", + "Walk around to the left side of the sink.", + "Wash the soap in the sink.", + "Look down at the bin on the floor.", + "Place the soap in the bin." + ], + "task_desc": "Place a rinsed bar of soap in a trash bin.", + "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-GarbageCan-426/trial_T20190908_060536_368078/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060536_368078/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ee85ec7bc2d44d61ce176086bfbc4e26eec4e793 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060536_368078/initial_state.pddl @@ -0,0 +1,525 @@ + +(define (problem plan_trial_T20190908_060536_368078) +(: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_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object + Candle_bar__minus_03_dot_04_bar__plus_00_dot_69_bar__plus_01_dot_11 - object + Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41 - object + Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_31 - object + Faucet_bar__minus_00_dot_46_bar__plus_00_dot_97_bar__plus_03_dot_21 - object + Faucet_bar__minus_03_dot_54_bar__plus_01_dot_82_bar__plus_01_dot_82 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 - object + Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 - object + Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 - object + ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 - object + ShowerCurtain_bar__minus_03_dot_32_bar__plus_02_dot_57_bar__plus_00_dot_27 - object + Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 - object + SoapBar_bar__minus_00_dot_73_bar__plus_00_dot_98_bar__plus_03_dot_18 - object + SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 - object + SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22 - object + SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_35 - object + SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 - object + SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 - object + SprayBottle_bar__minus_00_dot_87_bar__plus_00_dot_03_bar__plus_03_dot_11 - object + TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_29 - object + TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_51_bar__plus_00_dot_41 - object + TissueBox_bar__minus_01_dot_90_bar__plus_00_dot_20_bar__plus_00_dot_35 - object + ToiletPaper_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29 - object + ToiletPaper_bar__minus_03_dot_11_bar__plus_00_dot_69_bar__plus_01_dot_74 - object + Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 - object + Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object + Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle + CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle + Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle + Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle + Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle + TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle + TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle + loc_bar__minus_3_bar_10_bar_0_bar_0 - location + loc_bar__minus_10_bar_3_bar_2_bar_0 - location + loc_bar__minus_7_bar_6_bar_0_bar_60 - location + loc_bar__minus_5_bar_6_bar_2_bar_45 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_11_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_9_bar_0_bar_60 - location + loc_bar__minus_3_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_1_bar_60 - location + loc_bar__minus_5_bar_11_bar_0_bar_60 - location + loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location + loc_bar__minus_2_bar_9_bar_0_bar_60 - location + loc_bar__minus_11_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_8_bar_1_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_3_bar_2_bar_45 - location + loc_bar__minus_5_bar_10_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType) + (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType) + (objectType Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelType) + (objectType SoapBar_bar__minus_00_dot_73_bar__plus_00_dot_98_bar__plus_03_dot_18 SoapBarType) + (objectType ToiletPaper_bar__minus_03_dot_11_bar__plus_00_dot_69_bar__plus_01_dot_74 ToiletPaperType) + (objectType Candle_bar__minus_03_dot_04_bar__plus_00_dot_69_bar__plus_01_dot_11 CandleType) + (objectType TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_29 TissueBoxType) + (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22 SoapBottleType) + (objectType Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_31 ClothType) + (objectType SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 SoapBottleType) + (objectType SprayBottle_bar__minus_00_dot_87_bar__plus_00_dot_03_bar__plus_03_dot_11 SprayBottleType) + (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_35 SoapBottleType) + (objectType TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_51_bar__plus_00_dot_41 TissueBoxType) + (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType) + (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType) + (objectType SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 SprayBottleType) + (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType) + (objectType Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41 ClothType) + (objectType ToiletPaper_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29 ToiletPaperType) + (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 SprayBottleType) + (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType) + (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType) + (objectType TissueBox_bar__minus_01_dot_90_bar__plus_00_dot_20_bar__plus_00_dot_35 TissueBoxType) + (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType) + (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 DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 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 HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType 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 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 TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23) + (pickupable Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11) + (pickupable SoapBar_bar__minus_00_dot_73_bar__plus_00_dot_98_bar__plus_03_dot_18) + (pickupable ToiletPaper_bar__minus_03_dot_11_bar__plus_00_dot_69_bar__plus_01_dot_74) + (pickupable Candle_bar__minus_03_dot_04_bar__plus_00_dot_69_bar__plus_01_dot_11) + (pickupable TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_29) + (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22) + (pickupable Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_31) + (pickupable SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42) + (pickupable SprayBottle_bar__minus_00_dot_87_bar__plus_00_dot_03_bar__plus_03_dot_11) + (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_35) + (pickupable TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_51_bar__plus_00_dot_41) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96) + (pickupable SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16) + (pickupable Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41) + (pickupable ToiletPaper_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29) + (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22) + (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03) + (pickupable TissueBox_bar__minus_01_dot_90_bar__plus_00_dot_20_bar__plus_00_dot_35) + + (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31) + + (atLocation agent1 loc_bar__minus_5_bar_10_bar_0_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_73_bar__plus_00_dot_98_bar__plus_03_dot_18) + (cleanable Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_31) + (cleanable Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31) + (inReceptacle TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_29 Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31) + (inReceptacle ToiletPaper_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle TissueBox_bar__minus_01_dot_90_bar__plus_00_dot_20_bar__plus_00_dot_35 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31) + (inReceptacle TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_51_bar__plus_00_dot_41 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00) + (inReceptacle SprayBottle_bar__minus_00_dot_87_bar__plus_00_dot_03_bar__plus_03_dot_11 GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96) + (inReceptacle Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_31 Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15) + (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation SoapBottle_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_81_bar__plus_00_dot_20_bar__plus_00_dot_29 loc_bar__minus_5_bar_6_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_27_bar__plus_00_dot_20_bar__plus_00_dot_41 loc_bar__minus_5_bar_4_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_35 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_51_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 loc_bar__minus_3_bar_10_bar_0_bar_0) + (objectAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_03_dot_51_bar__plus_00_dot_22_bar__plus_01_dot_31 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_03_dot_04_bar__plus_00_dot_69_bar__plus_01_dot_11 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_00_dot_73_bar__plus_00_dot_98_bar__plus_03_dot_18 loc_bar__minus_4_bar_11_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_07_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_87_bar__plus_00_dot_03_bar__plus_03_dot_11 loc_bar__minus_5_bar_9_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_90_bar__plus_00_dot_20_bar__plus_00_dot_35 loc_bar__minus_5_bar_6_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_03_dot_11_bar__plus_00_dot_69_bar__plus_01_dot_74 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30) + (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0) + (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_22 loc_bar__minus_3_bar_4_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r GarbageCanType) + (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-GarbageCan-426/trial_T20190908_060536_368078/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060536_368078/traj_data.json new file mode 100644 index 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-1.25, + "y": 0.9018632, + "z": 2.5 + }, + "object_poses": [ + { + "objectName": "Cloth_08a0c761", + "position": { + "x": -3.50898552, + "y": 0.219671428, + "z": 1.30980682 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_a688aee8", + "position": { + "x": -1.89566326, + "y": 0.201769173, + "z": 0.35035795 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "TissueBox_a688aee8", + "position": { + "x": -1.43584836, + "y": 0.508836, + "z": 0.406286269 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_f8d9d3d8", + "position": { + "x": -0.865973055, + "y": 0.03337199, + "z": 3.10554171 + }, + "rotation": { + "x": 0.0, + "y": 204.683243, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_f8d9d3d8", + "position": { + "x": -0.805888534, + "y": 0.805, + "z": 0.2211703 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + }, + { 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} + }, + { + "objectName": "ToiletPaper_263c6545", + "position": { + "x": -3.10996962, + "y": 0.688, + "z": 1.73952043 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_2d529c27", + "position": { + "x": -2.18917274, + "y": 0.00086376816, + "z": 3.02522182 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_dd61cf08", + "position": { + "x": -0.5439111, + "y": 0.8096635, + "z": 0.417510748 + }, + "rotation": { + "x": 0.0, + "y": 90.0000458, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3439861023, + "scene_num": 426 + }, + "task_id": "trial_T20190908_060536_368078", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3MLUEOP3CCLXL_3K9FOBBF2K051V95E4U4SNLQP8QNLT", + "high_descs": [ + "Turn right and walk to the sink", + "Pick up the bar of soap that is sitting on the sink", + "Take a step back and continue to face the sink", + "Place the soap into the sink and turn on the water to rinse the soap, then turn off the water and pick up the soap", + "Take a step back and continue to face the sink but focus your attention to the trash can below the sink to the left", + "Place the bar of soap into the trash can above the yellow spray bottle" + ], + "task_desc": "Place a bar of soap into a trash can", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_35L9RVQFCRZGAPAOKKRSEQKDHUMHUZ", + "high_descs": [ + "Walk to the kitchen sink.", + "Grab the pink bar of soap from the sink.", + "Walk to the edge of the sink.", + "Put the soap under the faucet, soak it, then grab it.", + "Locate the trash can under the sink.", + "Throw the soap bar away in the trash can." + ], + "task_desc": "Put a wet bar of soap in the trash can.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3L4PIM1GQWXAGS8WQQ0BVFSWZLGRYC", + "high_descs": [ + "Take a few steps to the right, to the sink.", + "Pick up the bar of soap from the back of the sink.", + "Hold the soap and move slightly left to still face the sink.", + "Place the soap in the sink and turn on the water. Turn off the water and pick up the soap. ", + "Carry the soap and face to the left.", + "Place the soap in the trash can below." + ], + "task_desc": "Rinse a bar of soap and throw it away.", + "votes": [ + 1, + 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-SoapBar-None-GarbageCan-426/trial_T20190908_060552_772210/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060552_772210/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..26d0477d1d36beb3c90fa27fcd4870ee3991e585 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060552_772210/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 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_060552_772210)\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_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object\n Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46 - object\n Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13 - object\n Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 - object\n Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 - object\n Faucet_bar__minus_00_dot_46_bar__plus_00_dot_97_bar__plus_03_dot_21 - object\n Faucet_bar__minus_03_dot_54_bar__plus_01_dot_82_bar__plus_01_dot_82 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 - object\n LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 - object\n Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 - object\n Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 - object\n ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 - object\n ShowerCurtain_bar__minus_03_dot_32_bar__plus_02_dot_57_bar__plus_00_dot_27 - object\n Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 - object\n SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35 - object\n SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17 - object\n SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35 - object\n SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 - object\n SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 - object\n SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42 - object\n TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 - object\n TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18 - object\n ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29 - object\n ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_39 - object\n ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39 - object\n Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 - object\n Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object\n Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle\n Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle\n GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle\n Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle\n Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle\n TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_3_bar_10_bar_0_bar_0 - location\n loc_bar__minus_10_bar_3_bar_2_bar_0 - location\n loc_bar__minus_7_bar_6_bar_0_bar_60 - location\n loc_bar__minus_5_bar_6_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_11_bar_4_bar_3_bar_60 - location\n loc_bar__minus_5_bar_9_bar_0_bar_60 - location\n loc_bar__minus_3_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_8_bar_0_bar_60 - location\n loc_bar__minus_5_bar_11_bar_0_bar_60 - location\n loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location\n loc_bar__minus_2_bar_9_bar_0_bar_60 - location\n loc_bar__minus_11_bar_5_bar_3_bar_0 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_8_bar_1_bar_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_10_bar_3_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType)\n (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType)\n (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType)\n (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType)\n (objectType SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 SoapBarType)\n (objectType ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39 ToiletPaperType)\n (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType)\n (objectType Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 SoapBottleType)\n (objectType TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 TissueBoxType)\n (objectType Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 ClothType)\n (objectType TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18 TissueBoxType)\n (objectType SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 SoapBottleType)\n (objectType SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35 SoapBarType)\n (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType)\n (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42 SprayBottleType)\n (objectType SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17 SoapBarType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType)\n (objectType ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_39 ToiletPaperType)\n (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType)\n (objectType ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29 ToiletPaperType)\n (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType)\n (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType)\n (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType)\n (objectType Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 CandleType)\n (objectType SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35 SoapBarType)\n (objectType Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46 CandleType)\n (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType)\n (objectType Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13 CandleType)\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 TissueBoxType)\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 TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType 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 TissueBoxType)\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 TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain GarbageCanType SoapBarType)\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 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 TissueBoxType)\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 TissueBoxType)\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 TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain TowelHolderType TowelType)\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 ToiletType TissueBoxType)\n (pickupable SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94)\n (pickupable ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39)\n (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23)\n (pickupable Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29)\n (pickupable TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16)\n (pickupable Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18)\n (pickupable TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18)\n (pickupable SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18)\n (pickupable SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35)\n (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42)\n (pickupable SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96)\n (pickupable ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_39)\n (pickupable ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29)\n (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03)\n (pickupable Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45)\n (pickupable SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35)\n (pickupable Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46)\n (pickupable Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13)\n \n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n \n (atLocation agent1 loc_bar__minus_2_bar_5_bar_1_bar_30)\n \n (cleanable SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94)\n (cleanable Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18)\n (cleanable SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35)\n (cleanable SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17)\n (cleanable SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29 Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31)\n (inReceptacle TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34)\n (inReceptacle TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35 Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31)\n (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00)\n (inReceptacle SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17 GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96)\n (inReceptacle ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50)\n (inReceptacle SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0)\n (objectAtLocation SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 loc_bar__minus_4_bar_11_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17 loc_bar__minus_5_bar_9_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 loc_bar__minus_3_bar_10_bar_0_bar_0)\n (objectAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_39 loc_bar__minus_7_bar_8_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30)\n (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0)\n (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o SoapBarType)\n (receptacleType ?r GarbageCanType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bathtubbasin 1", "take soapbar 1 from bathtubbasin 1", "go to sinkbasin 1", "clean soapbar 1 with sinkbasin 1", "go to garbagecan 1", "move soapbar 1 to garbagecan 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-GarbageCan-426/trial_T20190908_060552_772210/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060552_772210/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1f3a10c9445c64689465e1e55115109136910452 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060552_772210/initial_state.pddl @@ -0,0 +1,534 @@ + +(define (problem plan_trial_T20190908_060552_772210) +(: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_50_bar__plus_00_dot_15_bar__plus_00_dot_94 - object + Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46 - object + Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13 - object + Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 - object + Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 - object + Faucet_bar__minus_00_dot_46_bar__plus_00_dot_97_bar__plus_03_dot_21 - object + Faucet_bar__minus_03_dot_54_bar__plus_01_dot_82_bar__plus_01_dot_82 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 - object + Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 - object + Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 - object + ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 - object + ShowerCurtain_bar__minus_03_dot_32_bar__plus_02_dot_57_bar__plus_00_dot_27 - object + Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 - object + SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35 - object + SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17 - object + SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35 - object + SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 - object + SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 - object + SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 - object + SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42 - object + TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 - object + TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18 - object + ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29 - object + ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_39 - object + ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39 - object + Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 - object + Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 - object + Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin - receptacle + CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle + Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 - receptacle + Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 - receptacle + GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 - receptacle + Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 - receptacle + Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 - receptacle + TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 - receptacle + TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 - receptacle + loc_bar__minus_3_bar_10_bar_0_bar_0 - location + loc_bar__minus_10_bar_3_bar_2_bar_0 - location + loc_bar__minus_7_bar_6_bar_0_bar_60 - location + loc_bar__minus_5_bar_6_bar_2_bar_45 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_11_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_9_bar_0_bar_60 - location + loc_bar__minus_3_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_11_bar_1_bar_60 - location + loc_bar__minus_7_bar_8_bar_0_bar_60 - location + loc_bar__minus_5_bar_11_bar_0_bar_60 - location + loc_bar__minus_2_bar_9_bar_0_bar__minus_15 - location + loc_bar__minus_2_bar_9_bar_0_bar_60 - location + loc_bar__minus_11_bar_5_bar_3_bar_0 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_8_bar_1_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_3_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin SinkBasinType) + (receptacleType CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 HandTowelHolderType) + (receptacleType GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 DrawerType) + (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin BathtubBasinType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 ToiletPaperHangerType) + (receptacleType TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 ToiletType) + (objectType SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 SoapBarType) + (objectType ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39 ToiletPaperType) + (objectType Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 PlungerType) + (objectType Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelType) + (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 SoapBottleType) + (objectType TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 TissueBoxType) + (objectType Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 ClothType) + (objectType TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18 TissueBoxType) + (objectType SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 SoapBottleType) + (objectType SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35 SoapBarType) + (objectType Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 WindowType) + (objectType SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42 SprayBottleType) + (objectType SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17 SoapBarType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelType) + (objectType ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_39 ToiletPaperType) + (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 LightSwitchType) + (objectType ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29 ToiletPaperType) + (objectType Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 SinkType) + (objectType Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 BathtubType) + (objectType ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 ScrubBrushType) + (objectType Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 CandleType) + (objectType SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35 SoapBarType) + (objectType Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46 CandleType) + (objectType Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 MirrorType) + (objectType Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13 CandleType) + (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 DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 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 HandTowelHolderType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType 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 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 TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain TowelHolderType TowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (pickupable SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94) + (pickupable ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39) + (pickupable Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23) + (pickupable Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11) + (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29) + (pickupable TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16) + (pickupable Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18) + (pickupable TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18) + (pickupable SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18) + (pickupable SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35) + (pickupable SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42) + (pickupable SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96) + (pickupable ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_39) + (pickupable ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29) + (pickupable ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03) + (pickupable Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45) + (pickupable SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35) + (pickupable Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46) + (pickupable Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13) + + (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31) + (openable Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31) + (openable Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31) + + (atLocation agent1 loc_bar__minus_2_bar_5_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94) + (cleanable Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18) + (cleanable SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35) + (cleanable SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17) + (cleanable SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29 Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31) + (inReceptacle TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42 CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35 Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13 Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31) + (inReceptacle Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00) + (inReceptacle SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17 GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96) + (inReceptacle ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50) + (inReceptacle Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50) + (inReceptacle SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94_bar_BathtubBasin loc_bar__minus_11_bar_4_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_01_dot_85_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar__minus_3_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_3_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_29_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_81_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_2_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_32_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_31_bar__plus_00_dot_31 loc_bar__minus_5_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_84_bar__plus_00_dot_61_bar__plus_00_dot_31 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_85_bar__plus_00_dot_00_bar__plus_03_dot_15 loc_bar__minus_5_bar_9_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_78_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15) + (receptacleAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05_bar_SinkBasin loc_bar__minus_4_bar_11_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__plus_03_dot_31 loc_bar__minus_5_bar_11_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__plus_02_dot_50 loc_bar__minus_7_bar_6_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_00_dot_86_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_45) + (receptacleAtLocation TowelHolder_bar__minus_02_dot_55_bar__plus_01_dot_58_bar__plus_00_dot_00 loc_bar__minus_10_bar_3_bar_2_bar_0) + (objectAtLocation SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_03_dot_18 loc_bar__minus_4_bar_11_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_33_bar__plus_00_dot_95_bar__plus_02_dot_39 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_28_bar__plus_00_dot_81_bar__plus_00_dot_16 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_84_bar__plus_00_dot_04_bar__plus_03_dot_17 loc_bar__minus_5_bar_9_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_02_dot_22_bar__plus_00_dot_95_bar__plus_02_dot_45 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_90_bar__plus_00_dot_51_bar__plus_00_dot_13 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_00_dot_18_bar__plus_00_dot_51_bar__plus_00_dot_35 loc_bar__minus_3_bar_5_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_00_dot_35 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_46_bar__minus_00_dot_01_bar__plus_03_dot_05 loc_bar__minus_2_bar_9_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_50_bar__plus_01_dot_74_bar__plus_03_dot_30 loc_bar__minus_3_bar_10_bar_0_bar_0) + (objectAtLocation Bathtub_bar__minus_03_dot_50_bar__plus_00_dot_15_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_02_dot_55_bar__plus_00_dot_87_bar__plus_00_dot_11 loc_bar__minus_10_bar_3_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_32_bar__plus_00_dot_51_bar__plus_00_dot_18 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_67_bar__plus_00_dot_51_bar__plus_00_dot_46 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_68_bar__plus_02_dot_96 loc_bar__minus_2_bar_9_bar_0_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_03_dot_57_bar__plus_00_dot_22_bar__plus_00_dot_94 loc_bar__minus_11_bar_4_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_29_bar__plus_00_dot_20_bar__plus_00_dot_29 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation Plunger_bar__minus_02_dot_31_bar__plus_00_dot_00_bar__plus_03_dot_23 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_81_bar__plus_00_dot_42 loc_bar__minus_3_bar_4_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_40_bar__plus_00_dot_51_bar__plus_00_dot_18 loc_bar__minus_3_bar_5_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_95_bar__plus_02_dot_39 loc_bar__minus_7_bar_8_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_37_bar__plus_01_dot_99 loc_bar__minus_2_bar_8_bar_1_bar_30) + (objectAtLocation Window_bar__minus_04_dot_08_bar__plus_01_dot_74_bar__plus_01_dot_16 loc_bar__minus_11_bar_5_bar_3_bar_0) + (objectAtLocation ScrubBrush_bar__minus_02_dot_19_bar__plus_00_dot_00_bar__plus_03_dot_03 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_3_bar_4_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o SoapBarType) + (receptacleType ?r GarbageCanType) + (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-GarbageCan-426/trial_T20190908_060552_772210/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060552_772210/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..385e80b67181c7a92a0751f3fe260839d9ccb6fc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-GarbageCan-426/trial_T20190908_060552_772210/traj_data.json @@ -0,0 +1,3694 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 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"z": 2.39 + }, + "rotation": { + "x": 0.0, + "y": 179.999725, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_2d529c27", + "position": { + "x": -2.18917274, + "y": 0.00086376816, + "z": 3.02522182 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_dd61cf08", + "position": { + "x": -0.200388253, + "y": 0.98396343, + "z": 3.18476534 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3908536637, + "scene_num": 426 + }, + "task_id": "trial_T20190908_060552_772210", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_3QY7M81QHA35E4Z0DX1EHQML0UO7K9", + "high_descs": [ + "move to the bin to the left of the sink", + "pick up soap from the bin", + "move to the sink to the right", + "wet the soap in the sink", + "move to the bin to the left of the sink", + "put the soap in the bin" + ], + "task_desc": "Put wet soap in the bin.k", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3VD82FOHKT5UGCFB261I4TV8LBMCOQ", + "high_descs": [ + "Turn to your left and go to the garbage can, on the floor, to the right of the sink. ", + "Pull out a bar of soap from the garbage can. ", + "Turn to the sink on your right. ", + "Place the bar of soap in the sink, turn the water on, rinse the sink, turn the water off, and remove the bar of soap from the sink. ", + "Turn back to the garbage can to your right, and beneath you. ", + "Place the bar of soap back into the garbage can on the floor. " + ], + "task_desc": "Place the bar of soap in the garbage can. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3X4MXAO0BJ56RNDWBPINAI7GOC8WR8", + "high_descs": [ + "Turn left, head to the trash can under the sink.", + "Pick up the soap in the trash can. ", + "Bring the soap to the sink. ", + "Wet the soap with water in the sink. ", + "Bring the wet soap back to the trash can under the sink.", + "Put the wet soap in the trash can." + ], + "task_desc": "Put wet soap in the trash can. ", + "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-CounterTop-30/trial_T20190909_050651_623153/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050651_623153/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..973d231a83d21e7641098e8ac3d1b8e1b724dfeb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050651_623153/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 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_050651_623153)\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_03_dot_13_bar__plus_00_dot_17_bar__plus_01_dot_55 - object\n Apple_bar__minus_00_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_68 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 - object\n Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_77 - object\n Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05 - object\n Bowl_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85 - object\n Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_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 Bread_bar__minus_01_dot_01_bar__plus_00_dot_98_bar__plus_00_dot_18 - object\n ButterKnife_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_80 - object\n ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 - object\n ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_00_dot_84 - object\n CellPhone_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_33 - object\n CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_58 - object\n CellPhone_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_66 - object\n Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84 - object\n Cup_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 - object\n DishSponge_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37 - object\n DishSponge_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_40 - object\n DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_26 - object\n Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_42 - 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_11_bar__plus_00_dot_90_bar__minus_01_dot_33 - object\n Fork_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 - object\n Fork_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__plus_01_dot_26 - object\n Glassbottle_bar__plus_00_dot_90_bar__plus_01_dot_68_bar__minus_01_dot_69 - object\n HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - 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 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 Fork_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10)\n (pickupable Spoon_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_63)\n (pickupable Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05)\n (pickupable Bowl_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85)\n (pickupable Tomato_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_33)\n (pickupable Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_42)\n (pickupable ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40)\n (pickupable Spoon_bar__plus_03_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_10)\n (pickupable Apple_bar__minus_00_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_68)\n (pickupable Cup_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62)\n (pickupable Mug_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_85)\n (pickupable Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (pickupable Knife_bar__plus_01_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_75)\n (pickupable CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_58)\n (pickupable Fork_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_33)\n (pickupable Potato_bar__plus_02_dot_97_bar__plus_00_dot_94_bar__plus_00_dot_95)\n (pickupable Apple_bar__plus_03_dot_13_bar__plus_00_dot_17_bar__plus_01_dot_55)\n (pickupable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (pickupable Ladle_bar__plus_02_dot_92_bar__plus_00_dot_21_bar__plus_00_dot_56)\n (pickupable Tomato_bar__plus_00_dot_02_bar__plus_00_dot_94_bar__minus_01_dot_59)\n (pickupable DishSponge_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_40)\n (pickupable Fork_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__plus_01_dot_26)\n (pickupable CellPhone_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_33)\n (pickupable Plate_bar__plus_00_dot_78_bar__plus_00_dot_92_bar__plus_00_dot_33)\n (pickupable CellPhone_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_66)\n (pickupable Glassbottle_bar__plus_00_dot_90_bar__plus_01_dot_68_bar__minus_01_dot_69)\n (pickupable Mug_bar__plus_01_dot_09_bar__plus_00_dot_71_bar__minus_01_dot_35)\n (pickupable Lettuce_bar__plus_00_dot_89_bar__plus_00_dot_97_bar__plus_00_dot_83)\n (pickupable SoapBottle_bar__plus_00_dot_89_bar__plus_00_dot_92_bar__plus_00_dot_53)\n (pickupable Kettle_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (pickupable Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61)\n (pickupable ButterKnife_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_80)\n (pickupable Tomato_bar__minus_00_dot_13_bar__plus_00_dot_94_bar__minus_01_dot_30)\n (pickupable SoapBottle_bar__plus_02_dot_92_bar__plus_00_dot_19_bar__plus_00_dot_91)\n (pickupable SaltShaker_bar__minus_00_dot_30_bar__plus_01_dot_26_bar__minus_01_dot_53)\n (pickupable Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_77)\n (pickupable Potato_bar__plus_00_dot_93_bar__plus_00_dot_75_bar__minus_01_dot_35)\n (pickupable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_31_bar__minus_01_dot_50)\n (pickupable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49)\n (pickupable Potato_bar__plus_00_dot_77_bar__plus_00_dot_92_bar__minus_01_dot_45)\n (pickupable DishSponge_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37)\n (pickupable Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84)\n (pickupable Bread_bar__minus_01_dot_01_bar__plus_00_dot_98_bar__plus_00_dot_18)\n (pickupable PepperShaker_bar__minus_00_dot_08_bar__plus_00_dot_13_bar__minus_01_dot_26)\n (pickupable Spatula_bar__plus_03_dot_04_bar__plus_00_dot_92_bar__minus_00_dot_80)\n (pickupable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (pickupable Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_36)\n (pickupable DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_26)\n (pickupable Mug_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_52)\n (pickupable Plate_bar__plus_01_dot_21_bar__plus_01_dot_69_bar__minus_01_dot_48)\n (pickupable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_00_dot_84)\n (pickupable Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24)\n (pickupable Kettle_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_89)\n (isReceptacleObject Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05)\n (isReceptacleObject Bowl_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85)\n (isReceptacleObject Cup_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62)\n (isReceptacleObject Mug_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_85)\n (isReceptacleObject Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (isReceptacleObject Plate_bar__plus_00_dot_78_bar__plus_00_dot_92_bar__plus_00_dot_33)\n (isReceptacleObject Mug_bar__plus_01_dot_09_bar__plus_00_dot_71_bar__minus_01_dot_35)\n (isReceptacleObject Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_77)\n (isReceptacleObject Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84)\n (isReceptacleObject Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (isReceptacleObject Mug_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_52)\n (isReceptacleObject Plate_bar__plus_01_dot_21_bar__plus_01_dot_69_bar__minus_01_dot_48)\n (isReceptacleObject Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24)\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 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Kettle_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (cleanable ButterKnife_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_80)\n (cleanable Tomato_bar__minus_00_dot_13_bar__plus_00_dot_94_bar__minus_01_dot_30)\n (cleanable Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_77)\n (cleanable Potato_bar__plus_00_dot_93_bar__plus_00_dot_75_bar__minus_01_dot_35)\n (cleanable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_31_bar__minus_01_dot_50)\n (cleanable Potato_bar__plus_00_dot_77_bar__plus_00_dot_92_bar__minus_01_dot_45)\n (cleanable DishSponge_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37)\n (cleanable Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84)\n (cleanable Spatula_bar__plus_03_dot_04_bar__plus_00_dot_92_bar__minus_00_dot_80)\n (cleanable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (cleanable Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_36)\n (cleanable DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_26)\n (cleanable Mug_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_52)\n (cleanable Plate_bar__plus_01_dot_21_bar__plus_01_dot_69_bar__minus_01_dot_48)\n (cleanable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_00_dot_84)\n (cleanable Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24)\n (cleanable Kettle_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_89)\n \n (heatable Tomato_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_33)\n (heatable Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_42)\n (heatable Apple_bar__minus_00_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_68)\n (heatable Cup_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62)\n (heatable Mug_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_85)\n (heatable Potato_bar__plus_02_dot_97_bar__plus_00_dot_94_bar__plus_00_dot_95)\n (heatable Apple_bar__plus_03_dot_13_bar__plus_00_dot_17_bar__plus_01_dot_55)\n (heatable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (heatable Tomato_bar__plus_00_dot_02_bar__plus_00_dot_94_bar__minus_01_dot_59)\n (heatable Plate_bar__plus_00_dot_78_bar__plus_00_dot_92_bar__plus_00_dot_33)\n (heatable Mug_bar__plus_01_dot_09_bar__plus_00_dot_71_bar__minus_01_dot_35)\n (heatable Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61)\n (heatable Tomato_bar__minus_00_dot_13_bar__plus_00_dot_94_bar__minus_01_dot_30)\n (heatable Potato_bar__plus_00_dot_93_bar__plus_00_dot_75_bar__minus_01_dot_35)\n (heatable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49)\n (heatable Potato_bar__plus_00_dot_77_bar__plus_00_dot_92_bar__minus_01_dot_45)\n (heatable Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84)\n (heatable Bread_bar__minus_01_dot_01_bar__plus_00_dot_98_bar__plus_00_dot_18)\n (heatable Mug_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_52)\n (heatable Plate_bar__plus_01_dot_21_bar__plus_01_dot_69_bar__minus_01_dot_48)\n (heatable Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24)\n (coolable Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05)\n (coolable Bowl_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85)\n (coolable Tomato_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_33)\n (coolable Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_42)\n (coolable Apple_bar__minus_00_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_68)\n (coolable Cup_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62)\n (coolable Mug_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_85)\n (coolable Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65)\n (coolable Potato_bar__plus_02_dot_97_bar__plus_00_dot_94_bar__plus_00_dot_95)\n (coolable Apple_bar__plus_03_dot_13_bar__plus_00_dot_17_bar__plus_01_dot_55)\n (coolable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (coolable Tomato_bar__plus_00_dot_02_bar__plus_00_dot_94_bar__minus_01_dot_59)\n (coolable Plate_bar__plus_00_dot_78_bar__plus_00_dot_92_bar__plus_00_dot_33)\n (coolable Mug_bar__plus_01_dot_09_bar__plus_00_dot_71_bar__minus_01_dot_35)\n (coolable Lettuce_bar__plus_00_dot_89_bar__plus_00_dot_97_bar__plus_00_dot_83)\n (coolable Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61)\n (coolable Tomato_bar__minus_00_dot_13_bar__plus_00_dot_94_bar__minus_01_dot_30)\n (coolable Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_77)\n (coolable Potato_bar__plus_00_dot_93_bar__plus_00_dot_75_bar__minus_01_dot_35)\n (coolable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_31_bar__minus_01_dot_50)\n (coolable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49)\n (coolable Potato_bar__plus_00_dot_77_bar__plus_00_dot_92_bar__minus_01_dot_45)\n (coolable Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84)\n (coolable Bread_bar__minus_01_dot_01_bar__plus_00_dot_98_bar__plus_00_dot_18)\n (coolable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (coolable Mug_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_52)\n (coolable Plate_bar__plus_01_dot_21_bar__plus_01_dot_69_bar__minus_01_dot_48)\n (coolable Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24)\n \n \n \n \n \n (sliceable Tomato_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_33)\n (sliceable Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_42)\n (sliceable Apple_bar__minus_00_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_68)\n (sliceable Potato_bar__plus_02_dot_97_bar__plus_00_dot_94_bar__plus_00_dot_95)\n (sliceable Apple_bar__plus_03_dot_13_bar__plus_00_dot_17_bar__plus_01_dot_55)\n (sliceable Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26)\n (sliceable Tomato_bar__plus_00_dot_02_bar__plus_00_dot_94_bar__minus_01_dot_59)\n (sliceable Lettuce_bar__plus_00_dot_89_bar__plus_00_dot_97_bar__plus_00_dot_83)\n (sliceable Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61)\n (sliceable Tomato_bar__minus_00_dot_13_bar__plus_00_dot_94_bar__minus_01_dot_30)\n (sliceable Potato_bar__plus_00_dot_93_bar__plus_00_dot_75_bar__minus_01_dot_35)\n (sliceable Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_31_bar__minus_01_dot_50)\n (sliceable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49)\n (sliceable Potato_bar__plus_00_dot_77_bar__plus_00_dot_92_bar__minus_01_dot_45)\n (sliceable Bread_bar__minus_01_dot_01_bar__plus_00_dot_98_bar__plus_00_dot_18)\n \n (inReceptacle Kettle_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 Plate_bar__plus_01_dot_21_bar__plus_01_dot_69_bar__minus_01_dot_48 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle Spatula_bar__plus_03_dot_04_bar__plus_00_dot_92_bar__minus_00_dot_80 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Potato_bar__plus_02_dot_97_bar__plus_00_dot_94_bar__plus_00_dot_95 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle ButterKnife_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_80 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle DishSponge_bar__plus_03_dot_20_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)\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 Bowl_bar__minus_00_dot_94_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 ButterKnife_bar__minus_00_dot_86_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 Apple_bar__minus_00_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_68 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bowl_bar__minus_00_dot_79_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)\n (inReceptacle Cup_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Bread_bar__minus_01_dot_01_bar__plus_00_dot_98_bar__plus_00_dot_18 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66)\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 Ladle_bar__plus_02_dot_92_bar__plus_00_dot_21_bar__plus_00_dot_56 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_77 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_36 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61)\n (inReceptacle Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_05)\n (inReceptacle Glassbottle_bar__plus_00_dot_90_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)\n (inReceptacle SaltShaker_bar__minus_00_dot_30_bar__plus_01_dot_26_bar__minus_01_dot_53 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34)\n (inReceptacle Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84 Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62)\n (inReceptacle DishSponge_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Tomato_bar__plus_00_dot_02_bar__plus_00_dot_94_bar__minus_01_dot_59 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Tomato_bar__minus_00_dot_13_bar__plus_00_dot_94_bar__minus_01_dot_30 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 Fork_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__plus_01_dot_26 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43)\n (inReceptacle PepperShaker_bar__minus_00_dot_08_bar__plus_00_dot_13_bar__minus_01_dot_26 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32)\n (inReceptacle CellPhone_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_66 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (inReceptacle Knife_bar__plus_01_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_00_dot_89_bar__plus_00_dot_97_bar__plus_00_dot_83 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle SoapBottle_bar__plus_00_dot_89_bar__plus_00_dot_92_bar__plus_00_dot_53 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loc_bar_4_bar__minus_2_bar_0_bar_45)\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_03_dot_04_bar__plus_00_dot_92_bar__minus_00_dot_80 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_75 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_31_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\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__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (objectAtLocation SaltShaker_bar__minus_00_dot_30_bar__plus_01_dot_26_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_08_bar__plus_00_dot_13_bar__minus_01_dot_26 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_80 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 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_10_bar__plus_00_dot_99_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_58 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_33 loc_bar_0_bar_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__plus_03_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_10 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bowl_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 Mug_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_52 loc_bar__minus_1_bar_5_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 SpatulaType)\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 spatula 1 from countertop 1", "go to sinkbasin 1", "clean spatula 1 with sinkbasin 1", "go to countertop 1", "move spatula 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-Spatula-None-CounterTop-30/trial_T20190909_050651_623153/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050651_623153/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f6aedfb1cce8b8a6081ee3fcfc86246e63ab91ad --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050651_623153/initial_state.pddl @@ -0,0 +1,1533 @@ + +(define (problem plan_trial_T20190909_050651_623153) +(: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_03_dot_13_bar__plus_00_dot_17_bar__plus_01_dot_55 - object + Apple_bar__minus_00_dot_65_bar__plus_00_dot_97_bar__minus_00_dot_68 - object + Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_bar__plus_01_dot_26 - object + Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_77 - object + Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05 - object + Bowl_bar__minus_00_dot_94_bar__plus_00_dot_90_bar__plus_00_dot_85 - object + Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 - object + Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49 - object + Bread_bar__minus_01_dot_01_bar__plus_00_dot_98_bar__plus_00_dot_18 - object + ButterKnife_bar__plus_03_dot_28_bar__plus_00_dot_90_bar__minus_00_dot_80 - object + ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 - object + ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_00_dot_84 - object + CellPhone_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_33 - object + CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_58 - object + CellPhone_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_66 - object + Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84 - object + Cup_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 - object + DishSponge_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37 - object + DishSponge_bar__plus_03_dot_20_bar__plus_00_dot_90_bar__minus_00_dot_40 - object + DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_26 - object + Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_42 - object + Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + Fork_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_33 - object + Fork_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 - object + Fork_bar__minus_00_dot_99_bar__plus_00_dot_13_bar__plus_01_dot_26 - object + Glassbottle_bar__plus_00_dot_90_bar__plus_01_dot_68_bar__minus_01_dot_69 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__plus_01_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_89 - object + Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_36 - object + Kettle_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09 - object + Knife_bar__plus_01_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_75 - object + Ladle_bar__plus_02_dot_92_bar__plus_00_dot_21_bar__plus_00_dot_56 - object + Lettuce_bar__plus_00_dot_85_bar__plus_01_dot_31_bar__minus_01_dot_50 - object + Lettuce_bar__plus_00_dot_89_bar__plus_00_dot_97_bar__plus_00_dot_83 - 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_09_bar__plus_00_dot_71_bar__minus_01_dot_35 - object + Mug_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_00_dot_85 - object + Mug_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_52 - object + Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object + PepperShaker_bar__minus_00_dot_08_bar__plus_00_dot_13_bar__minus_01_dot_26 - object + Plate_bar__plus_00_dot_78_bar__plus_00_dot_92_bar__plus_00_dot_33 - object + Plate_bar__plus_01_dot_21_bar__plus_01_dot_69_bar__minus_01_dot_48 - object + Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_bar__minus_01_dot_24 - object + Potato_bar__plus_00_dot_77_bar__plus_00_dot_92_bar__minus_01_dot_45 - object + Potato_bar__plus_00_dot_93_bar__plus_00_dot_75_bar__minus_01_dot_35 - object + Potato_bar__plus_02_dot_97_bar__plus_00_dot_94_bar__plus_00_dot_95 - object + Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87 - object + SaltShaker_bar__minus_00_dot_30_bar__plus_01_dot_26_bar__minus_01_dot_53 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_00_dot_89_bar__plus_00_dot_92_bar__plus_00_dot_53 - object + SoapBottle_bar__plus_02_dot_92_bar__plus_00_dot_19_bar__plus_00_dot_91 - object + Spatula_bar__plus_03_dot_04_bar__plus_00_dot_92_bar__minus_00_dot_80 - object + Spoon_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_63 - object + Spoon_bar__plus_03_dot_11_bar__plus_00_dot_75_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 + 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_02_bar__plus_00_dot_94_bar__minus_01_dot_59 - object + Tomato_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_33 - object + Tomato_bar__minus_00_dot_13_bar__plus_00_dot_94_bar__minus_01_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_0_bar__minus_2_bar_0_bar_45 - location + loc_bar__minus_1_bar_3_bar_3_bar_60 - 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_1_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar__minus_15 - location + 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ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66) + (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 Ladle_bar__plus_02_dot_92_bar__plus_00_dot_21_bar__plus_00_dot_56 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41) + (inReceptacle Bowl_bar__plus_03_dot_08_bar__plus_00_dot_17_bar__plus_00_dot_77 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41) + (inReceptacle Kettle_bar__plus_03_dot_08_bar__plus_00_dot_18_bar__minus_00_dot_36 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_61) + (inReceptacle Plate_bar__plus_03_dot_10_bar__plus_01_dot_48_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_00_dot_90_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 SaltShaker_bar__minus_00_dot_30_bar__plus_01_dot_26_bar__minus_01_dot_53 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34) + (inReceptacle Cup_bar__minus_00_dot_94_bar__plus_01_dot_26_bar__minus_00_dot_84 Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62) + (inReceptacle DishSponge_bar__plus_00_dot_49_bar__plus_00_dot_90_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Tomato_bar__plus_00_dot_02_bar__plus_00_dot_94_bar__minus_01_dot_59 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Tomato_bar__minus_00_dot_13_bar__plus_00_dot_94_bar__minus_01_dot_30 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__minus_00_dot_99_bar__plus_00_dot_13_bar__plus_01_dot_26 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43) + (inReceptacle PepperShaker_bar__minus_00_dot_08_bar__plus_00_dot_13_bar__minus_01_dot_26 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32) + (inReceptacle CellPhone_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_66 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66) + (inReceptacle Knife_bar__plus_01_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_75 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Lettuce_bar__plus_00_dot_89_bar__plus_00_dot_97_bar__plus_00_dot_83 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle SoapBottle_bar__plus_00_dot_89_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 CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_58 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 Bread_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__plus_00_dot_61 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Tomato_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_33 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 CellPhone_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Plate_bar__plus_00_dot_78_bar__plus_00_dot_92_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Kettle_bar__plus_01_dot_36_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 DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_26 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43) + (inReceptacleObject Tomato_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_33 Plate_bar__plus_00_dot_78_bar__plus_00_dot_92_bar__plus_00_dot_33) + (inReceptacle Apple_bar__plus_03_dot_13_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 Fork_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Spoon_bar__plus_03_dot_11_bar__plus_00_dot_75_bar__minus_00_dot_10 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle Mug_bar__plus_01_dot_09_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 Lettuce_bar__plus_00_dot_85_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) + (inReceptacle Potato_bar__plus_00_dot_77_bar__plus_00_dot_92_bar__minus_01_dot_45 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_75_bar__minus_01_dot_35 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Egg_bar__minus_01_dot_02_bar__plus_01_dot_05_bar__plus_01_dot_42 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (inReceptacle Mug_bar__minus_01_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_52 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (inReceptacle Apple_bar__minus_01_dot_02_bar__plus_01_dot_07_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 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 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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 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) + (objectAtLocation Mug_bar__plus_01_dot_09_bar__plus_00_dot_71_bar__minus_01_dot_35 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_10_bar__plus_00_dot_90_bar__minus_01_dot_63 loc_bar_0_bar__minus_3_bar_2_bar_45) + (objectAtLocation 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"y": 134.999832, + "z": 0.0 + } + }, + { + "objectName": "Spatula_64c860f2", + "position": { + "x": 3.044359, + "y": 0.915799856, + "z": -0.79824847 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_3e58a77d", + "position": { + "x": 1.22986388, + "y": 0.9337183, + "z": 0.747513056 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_99ab2e9c", + "position": { + "x": 0.8873, + "y": 0.9736909, + "z": 0.8278844 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_be22aed5", + "position": { + "x": -1.00817108, + "y": 0.898132443, + "z": 0.623000562 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c39806f6", + "position": { + "x": -0.2994482, + "y": 1.25991642, + "z": -1.53490281 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c285ee2", + "position": { + "x": -1.01872826, + "y": 1.05019391, + "z": 1.417905 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6d2fd9f8", + "position": { + "x": -0.07624583, + "y": 0.1292665, + "z": -1.25825822 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_db774b98", + "position": { + "x": -0.86270237, + "y": 0.9003421, + "z": 0.399594069 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_1e1bef89", + "position": { + "x": 3.12841129, + "y": 0.174833536, + "z": 1.54641163 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "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": 0.4868324 + }, + "rotation": { + "x": 3.531223e-06, + "y": 289.287476, + "z": 4.017996e-06 + } + }, + { + "objectName": "CellPhone_bf099a5c", + "position": { + "x": -0.8683, + "y": 0.128286391, + "z": 0.6642 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_3cec4766", + "position": { + "x": -0.8683, + "y": 0.3259533, + "z": 1.25590825 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_bfd17fb4", + "position": { + "x": -0.131600291, + "y": 0.937289357, + "z": -1.29606938 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0fe289e3", + "position": { + "x": 0.09559533, + "y": 0.901429355, + "z": -1.62594223 + }, + "rotation": { + "x": 0.0, + "y": 135.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_46f611f6", + "position": { + "x": -0.789968, + "y": 0.8974154, + "z": -0.047219038 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ba5c7501", + "position": { + "x": 1.0861243, + "y": 0.706290245, + "z": -1.35491741 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3124390010, + "scene_num": 30 + }, + "task_id": "trial_T20190909_050651_623153", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_3JAOYWH7VLVSXIR9920GB8A8E0XL9B", + "high_descs": [ + "walk forward then turn right on the sink counter", + "Pick up the turner on the counter", + "Turn left then face the sink on the right", + "Put the turner in the sink and rinse it", + "Turn right then face to the left facing the counter", + "Put the turner on the counter" + ], + "task_desc": "Put the clean turner on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_3P529IW9K1C1YSIMCO08L4WJHYWLF7", + "high_descs": [ + "Walk to the spatula on the counter to your right.", + "Grab the spatula on the counter.", + "Turn left and walk to the sink to your right.", + "Place the spatula inside the sink, wash it and remove it.", + "Turn right and walk back to the counter to your left.", + "Place the spatula on the counter." + ], + "task_desc": "Place a clean spatula on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3OV174HQJIJK8_3YMTUJH0DV7FJPT21G6GGR99MLB4T7", + "high_descs": [ + "Walk forward and turn right to face the counter", + "Pick up the spatula from the counter", + "Walk to the sink on the left", + "Put the spatula in the sink next to the fork, fill the sink with water, drain the sink, and take out the spatula", + "Move to the right", + "Put the spatula on the counter" + ], + "task_desc": "Wash the spatula in 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-Spatula-None-CounterTop-30/trial_T20190909_050738_091810/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050738_091810/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..6d1a05a5888d1a6a01c7bbdb651e42038aab2348 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050738_091810/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 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_050738_091810)\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_85_bar__plus_01_dot_15_bar__minus_01_dot_48 - object\n Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42 - object\n Bowl_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_43 - object\n Bread_bar__plus_00_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_18 - object\n ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__minus_00_dot_68 - object\n CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_84 - object\n Cup_bar__plus_00_dot_90_bar__plus_01_dot_67_bar__minus_01_dot_69 - object\n Cup_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_18 - object\n DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_03 - object\n DishSponge_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_23 - object\n DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__plus_00_dot_66 - object\n Egg_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__minus_01_dot_38 - object\n Egg_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_56 - object\n Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59 - object\n Faucet_bar__plus_03_dot_31_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n Fork_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__minus_00_dot_01 - object\n Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_84 - object\n Glassbottle_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__plus_00_dot_85 - 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_86_bar__plus_00_dot_90_bar__plus_00_dot_40 - object\n Knife_bar__minus_00_dot_95_bar__plus_00_dot_35_bar__minus_00_dot_27 - object\n Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__minus_00_dot_27 - object\n Ladle_bar__plus_03_dot_17_bar__plus_01_dot_50_bar__minus_01_dot_28 - object\n Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_14_bar__minus_01_dot_50 - 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_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_53 - object\n Mug_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_87 - object\n Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__plus_01_dot_31 - object\n Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object\n Pan_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_61 - object\n PepperShaker_bar__plus_00_dot_33_bar__plus_00_dot_13_bar__minus_01_dot_43 - object\n PepperShaker_bar__plus_00_dot_71_bar__plus_01_dot_67_bar__minus_01_dot_69 - object\n PepperShaker_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_55 - object\n Plate_bar__minus_00_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n Potato_bar__minus_01_dot_09_bar__plus_01_dot_04_bar__plus_01_dot_26 - 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_11_bar__plus_00_dot_90_bar__minus_01_dot_43 - object\n Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object\n SoapBottle_bar__plus_02_dot_91_bar__plus_00_dot_18_bar__minus_00_dot_26 - object\n SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_27_bar__minus_01_dot_48 - object\n SoapBottle_bar__minus_01_dot_01_bar__plus_01_dot_27_bar__minus_00_dot_82 - object\n Spatula_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__minus_01_dot_33 - object\n Spatula_bar__plus_00_dot_78_bar__plus_00_dot_93_bar__plus_00_dot_33 - object\n Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_32 - object\n Spatula_bar__minus_00_dot_87_bar__plus_00_dot_34_bar__plus_00_dot_40 - object\n Spoon_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_41 - object\n Spoon_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n Spoon_bar__minus_00_dot_15_bar__plus_00_dot_13_bar__minus_01_dot_28 - 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 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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 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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 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Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__plus_01_dot_31)\n (heatable Egg_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__minus_01_dot_38)\n (heatable Potato_bar__minus_01_dot_09_bar__plus_01_dot_04_bar__plus_01_dot_26)\n (heatable Cup_bar__plus_00_dot_90_bar__plus_01_dot_67_bar__minus_01_dot_69)\n (heatable Bread_bar__plus_00_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_18)\n (heatable Cup_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_18)\n (heatable Tomato_bar__plus_03_dot_10_bar__plus_00_dot_14_bar__plus_01_dot_63)\n (heatable Mug_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_87)\n (heatable Apple_bar__plus_00_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_48)\n (heatable Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42)\n (heatable Egg_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_56)\n (heatable Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59)\n (heatable 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Cup_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_18)\n (coolable Tomato_bar__plus_03_dot_10_bar__plus_00_dot_14_bar__plus_01_dot_63)\n (coolable Mug_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_87)\n (coolable Apple_bar__plus_00_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_48)\n (coolable Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42)\n (coolable Egg_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_56)\n (coolable Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59)\n (coolable Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_53)\n (coolable Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n \n \n \n \n \n (sliceable Tomato_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_83)\n (sliceable Egg_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__minus_01_dot_38)\n (sliceable Potato_bar__minus_01_dot_09_bar__plus_01_dot_04_bar__plus_01_dot_26)\n (sliceable Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_14_bar__minus_01_dot_50)\n (sliceable Bread_bar__plus_00_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_18)\n (sliceable Tomato_bar__plus_03_dot_10_bar__plus_00_dot_14_bar__plus_01_dot_63)\n (sliceable Apple_bar__plus_00_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_48)\n (sliceable Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42)\n (sliceable Egg_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_56)\n (sliceable Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59)\n \n (inReceptacle PepperShaker_bar__plus_00_dot_33_bar__plus_00_dot_13_bar__minus_01_dot_43 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51)\n (inReceptacle Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n (inReceptacle Spoon_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 DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__plus_00_dot_66 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66)\n (inReceptacle PepperShaker_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_55 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 Spoon_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02)\n (inReceptacle Cup_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_18 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Glassbottle_bar__minus_00_dot_72_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 Kettle_bar__minus_00_dot_86_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 Spatula_bar__minus_00_dot_87_bar__plus_00_dot_34_bar__plus_00_dot_40 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66)\n (inReceptacle Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_84 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_27 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10)\n (inReceptacle Knife_bar__minus_00_dot_95_bar__plus_00_dot_35_bar__minus_00_dot_27 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10)\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 Mug_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_87 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96)\n (inReceptacle Ladle_bar__plus_03_dot_17_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_00_dot_71_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)\n (inReceptacle Cup_bar__plus_00_dot_90_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)\n (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_27_bar__minus_01_dot_48 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34)\n (inReceptacle SoapBottle_bar__minus_01_dot_01_bar__plus_01_dot_27_bar__minus_00_dot_82 Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62)\n (inReceptacle Fork_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)\n (inReceptacle SaltShaker_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_43 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Spatula_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__minus_01_dot_33 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 Spoon_bar__minus_00_dot_15_bar__plus_00_dot_13_bar__minus_01_dot_28 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32)\n (inReceptacle CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (inReceptacle Tomato_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_83 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_00_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Pan_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)\n (inReceptacle Bowl_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_43 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_00_dot_78_bar__plus_00_dot_93_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_32 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Tomato_bar__plus_03_dot_10_bar__plus_00_dot_14_bar__plus_01_dot_63 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60)\n (inReceptacle DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_03 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin)\n (inReceptacle DishSponge_bar__plus_03_dot_07_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 Egg_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__minus_01_dot_38 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Apple_bar__plus_00_dot_85_bar__plus_01_dot_15_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_16_bar__plus_01_dot_14_bar__minus_01_dot_50 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_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_24_bar__plus_00_dot_94_bar__minus_01_dot_56 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Potato_bar__minus_01_dot_09_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 (inReceptacle Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_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_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 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_77_bar__plus_01_dot_24_bar__minus_01_dot_53 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Spoon_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 Tomato_bar__plus_03_dot_10_bar__plus_00_dot_14_bar__plus_01_dot_63 loc_bar_11_bar_5_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__plus_00_dot_66 loc_bar_0_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 Apple_bar__plus_00_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_48 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_55 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_18 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__minus_00_dot_27 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_78_bar__plus_00_dot_93_bar__plus_00_dot_33 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_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 SoapBottle_bar__minus_01_dot_01_bar__plus_01_dot_27_bar__minus_00_dot_82 loc_bar__minus_1_bar__minus_2_bar_3_bar_0)\n (objectAtLocation Egg_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__minus_01_dot_38 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_02_dot_91_bar__plus_00_dot_18_bar__minus_00_dot_26 loc_bar_8_bar_0_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_33_bar__plus_00_dot_13_bar__minus_01_dot_43 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_87 loc_bar_8_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__minus_01_dot_33 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_32 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_23 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_14_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_0_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Glassbottle_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__plus_00_dot_85 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_27_bar__minus_01_dot_48 loc_bar_1_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Potato_bar__minus_01_dot_09_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__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_84 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_03_dot_17_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_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_86_bar__plus_00_dot_90_bar__plus_00_dot_40 loc_bar__minus_1_bar_2_bar_3_bar_45)\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_87_bar__plus_00_dot_34_bar__plus_00_dot_40 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_95_bar__plus_00_dot_35_bar__minus_00_dot_27 loc_bar_0_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_14_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\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_90_bar__plus_01_dot_67_bar__minus_01_dot_69 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SaltShaker_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_43 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_56 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_71_bar__plus_01_dot_67_bar__minus_01_dot_69 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_1_bar__minus_2_bar_3_bar_60)\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_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 Bread_bar__plus_00_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_18 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_84 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_03 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_83 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_15_bar__plus_00_dot_13_bar__minus_01_dot_28 loc_bar_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_43 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__plus_01_dot_31 loc_bar__minus_1_bar_5_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 SpatulaType)\n (receptacleType ?r CounterTopType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take spatula 3 from countertop 3", "go to sinkbasin 1", "clean spatula 3 with sinkbasin 1", "go to countertop 1", "move spatula 3 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-Spatula-None-CounterTop-30/trial_T20190909_050738_091810/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050738_091810/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7b74adb1479d78e360551dd7beef5c265b073c21 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050738_091810/initial_state.pddl @@ -0,0 +1,1469 @@ + +(define (problem plan_trial_T20190909_050738_091810) +(: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_85_bar__plus_01_dot_15_bar__minus_01_dot_48 - object + Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42 - object + Bowl_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_43 - object + Bread_bar__plus_00_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_18 - object + ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_84 - object + Cup_bar__plus_00_dot_90_bar__plus_01_dot_67_bar__minus_01_dot_69 - object + Cup_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_18 - object + DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_03 - object + DishSponge_bar__plus_03_dot_07_bar__plus_00_dot_75_bar__plus_00_dot_23 - object + DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__plus_00_dot_66 - object + Egg_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__minus_01_dot_38 - object + Egg_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_56 - object + Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59 - 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_13_bar__minus_00_dot_01 - object + Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_84 - object + Glassbottle_bar__minus_00_dot_72_bar__plus_00_dot_90_bar__plus_00_dot_85 - object + HousePlant_bar__plus_03_dot_20_bar__plus_00_dot_89_bar__minus_00_dot_37 - object + Kettle_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_40 - object + Knife_bar__minus_00_dot_95_bar__plus_00_dot_35_bar__minus_00_dot_27 - object + Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__minus_00_dot_27 - object + Ladle_bar__plus_03_dot_17_bar__plus_01_dot_50_bar__minus_01_dot_28 - object + Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_14_bar__minus_01_dot_50 - 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_77_bar__plus_01_dot_24_bar__minus_01_dot_53 - object + Mug_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_87 - object + Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__plus_01_dot_31 - object + Pan_bar__plus_00_dot_34_bar__plus_00_dot_87_bar__minus_01_dot_65 - object + Pan_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_61 - object + PepperShaker_bar__plus_00_dot_33_bar__plus_00_dot_13_bar__minus_01_dot_43 - object + PepperShaker_bar__plus_00_dot_71_bar__plus_01_dot_67_bar__minus_01_dot_69 - object + PepperShaker_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_55 - object + Plate_bar__minus_00_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_49 - object + Potato_bar__minus_01_dot_09_bar__plus_01_dot_04_bar__plus_01_dot_26 - object + Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 - object + SaltShaker_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_43 - object + Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09 - object + SoapBottle_bar__plus_02_dot_91_bar__plus_00_dot_18_bar__minus_00_dot_26 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_27_bar__minus_01_dot_48 - object + SoapBottle_bar__minus_01_dot_01_bar__plus_01_dot_27_bar__minus_00_dot_82 - object + Spatula_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__minus_01_dot_33 - object + Spatula_bar__plus_00_dot_78_bar__plus_00_dot_93_bar__plus_00_dot_33 - object + Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_32 - object + Spatula_bar__minus_00_dot_87_bar__plus_00_dot_34_bar__plus_00_dot_40 - object + Spoon_bar__plus_03_dot_03_bar__plus_00_dot_71_bar__minus_00_dot_41 - object + Spoon_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70 - object + Spoon_bar__minus_00_dot_15_bar__plus_00_dot_13_bar__minus_01_dot_28 - 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_62_bar__plus_00_dot_95_bar__plus_00_dot_83 - object + Tomato_bar__plus_03_dot_10_bar__plus_00_dot_14_bar__plus_01_dot_63 - object + 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Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42) + (coolable Egg_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_56) + (coolable Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59) + (coolable Mug_bar__plus_00_dot_77_bar__plus_01_dot_24_bar__minus_01_dot_53) + (coolable Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92) + + + + + + (sliceable Tomato_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_83) + (sliceable Egg_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__minus_01_dot_38) + (sliceable Potato_bar__minus_01_dot_09_bar__plus_01_dot_04_bar__plus_01_dot_26) + (sliceable Lettuce_bar__plus_01_dot_16_bar__plus_01_dot_14_bar__minus_01_dot_50) + (sliceable Bread_bar__plus_00_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_18) + (sliceable Tomato_bar__plus_03_dot_10_bar__plus_00_dot_14_bar__plus_01_dot_63) + (sliceable Apple_bar__plus_00_dot_85_bar__plus_01_dot_15_bar__minus_01_dot_48) + (sliceable Apple_bar__minus_01_dot_09_bar__plus_01_dot_07_bar__plus_01_dot_42) + (sliceable Egg_bar__plus_01_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_56) + (sliceable Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59) + + (inReceptacle PepperShaker_bar__plus_00_dot_33_bar__plus_00_dot_13_bar__minus_01_dot_43 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51) + (inReceptacle Pot_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92) + (inReceptacle Spoon_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 DishSponge_bar__minus_00_dot_87_bar__plus_00_dot_52_bar__plus_00_dot_66 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_00_dot_66) + (inReceptacle PepperShaker_bar__plus_03_dot_04_bar__plus_01_dot_46_bar__minus_01_dot_55 Cabinet_bar__plus_02_dot_82_bar__plus_01_dot_77_bar__minus_01_dot_85) + (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 Spoon_bar__plus_03_dot_12_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__plus_03_dot_11_bar__plus_00_dot_94_bar__plus_00_dot_02) + (inReceptacle Cup_bar__minus_01_dot_08_bar__plus_00_dot_90_bar__plus_00_dot_18 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Egg_bar__minus_00_dot_73_bar__plus_00_dot_95_bar__minus_00_dot_59 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Glassbottle_bar__minus_00_dot_72_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_86_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 Spatula_bar__minus_00_dot_87_bar__plus_00_dot_34_bar__plus_00_dot_40 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_00_dot_66) + (inReceptacle Fork_bar__minus_00_dot_87_bar__plus_00_dot_71_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66) + (inReceptacle Knife_bar__minus_00_dot_99_bar__plus_00_dot_35_bar__minus_00_dot_27 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10) + (inReceptacle Knife_bar__minus_00_dot_95_bar__plus_00_dot_35_bar__minus_00_dot_27 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__minus_00_dot_10) + (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) + (inReceptacle Mug_bar__plus_02_dot_97_bar__plus_00_dot_17_bar__minus_00_dot_87 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__minus_00_dot_96) + (inReceptacle Ladle_bar__plus_03_dot_17_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) + (inReceptacle PepperShaker_bar__plus_00_dot_71_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 Cup_bar__plus_00_dot_90_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 SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_27_bar__minus_01_dot_48 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_67_bar__minus_01_dot_34) + (inReceptacle SoapBottle_bar__minus_01_dot_01_bar__plus_01_dot_27_bar__minus_00_dot_82 Cabinet_bar__minus_00_dot_92_bar__plus_01_dot_67_bar__minus_00_dot_62) + (inReceptacle Fork_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 SaltShaker_bar__plus_00_dot_11_bar__plus_00_dot_90_bar__minus_01_dot_43 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Spatula_bar__plus_00_dot_11_bar__plus_00_dot_92_bar__minus_01_dot_33 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 Spoon_bar__minus_00_dot_15_bar__plus_00_dot_13_bar__minus_01_dot_28 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_19_bar__minus_01_dot_32) + (inReceptacle CellPhone_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66) + (inReceptacle Tomato_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_83 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Bread_bar__plus_00_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_18 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Pan_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 Bowl_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_43 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__plus_00_dot_78_bar__plus_00_dot_93_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__plus_01_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_32 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Tomato_bar__plus_03_dot_10_bar__plus_00_dot_14_bar__plus_01_dot_63 GarbageCan_bar__plus_03_dot_18_bar__plus_00_dot_03_bar__plus_01_dot_60) + (inReceptacle DishSponge_bar__plus_03_dot_03_bar__plus_00_dot_75_bar__minus_00_dot_03 Sink_bar__plus_03_dot_08_bar__plus_00_dot_89_bar__plus_00_dot_09_bar_SinkBasin) + (inReceptacle DishSponge_bar__plus_03_dot_07_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 Egg_bar__plus_01_dot_24_bar__plus_00_dot_77_bar__minus_01_dot_38 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Apple_bar__plus_00_dot_85_bar__plus_01_dot_15_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_16_bar__plus_01_dot_14_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_77_bar__plus_01_dot_24_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_24_bar__plus_00_dot_94_bar__minus_01_dot_56 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47) + (inReceptacle Potato_bar__minus_01_dot_09_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) + (inReceptacle Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__plus_01_dot_31 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43) + (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 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) + (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) + (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) + (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) + (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) + (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) + (receptacleAtLocation 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"CellPhone_bf099a5c", + "position": { + "x": -0.909206867, + "y": 0.128286391, + "z": 0.8391918 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_3cec4766", + "position": { + "x": -0.8683, + "y": 0.517756164, + "z": 0.6642 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_bfd17fb4", + "position": { + "x": 3.10161734, + "y": 0.1379925, + "z": 1.62679434 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0fe289e3", + "position": { + "x": 3.0293, + "y": 0.713909149, + "z": -0.40818584 + }, + "rotation": { + "x": 0.0, + "y": 180.000046, + "z": 0.0 + } + }, + { + "objectName": "Bowl_46f611f6", + "position": { + "x": 0.445175, + "y": 0.9052153, + "z": 0.4267226 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ba5c7501", + "position": { + "x": 0.7736288, + "y": 1.24299645, + "z": -1.53184974 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3468216238, + "scene_num": 30 + }, + "task_id": "trial_T20190909_050738_091810", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2RVDEU138ZF9P_3FPRZHYEP1Y9ELEN6X1C745O57D3VL", + "high_descs": [ + "Turn around then right to face the brown table.", + "Pick up the wooden spoon from the top of the table. ", + "Turn right and walk forward towards the sink.", + "Place the spoon inside the sink and turn the faucet on, then turn it off and pick up the spoon.", + "Turn right and walk forward towards the sink.", + "Place the wooden spoon on top of the counter." + ], + "task_desc": "Wash the wooden spoon and place it on the counter of the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3ND9UOO81NT39E4H2DA8PSIJC2ALWV", + "high_descs": [ + "Turn left then head to the island ", + "Pick up the turner on the island beside the bread", + "Turn right then head to the sink", + "Put the turner in the sink and rinse it", + "Pick up the turner then move to your right facing the counter", + "Put the turner on the counter" + ], + "task_desc": "Put the clean turner on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3PB5A5BD0YX8X7PFJE5GKKEUNU3G76", + "high_descs": [ + "Turn left and go forward to the kitchen island.", + "Pick up the spatula on the kitchen island, the one to the right of the bread.", + "Turn right and go forward to the sink ahead.", + "Wash the spatula in the sink.", + "Go to the counter to the right of the sink.", + "Place the spatula on the counter." + ], + "task_desc": "Put a clean spatula 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-Spatula-None-CounterTop-30/trial_T20190909_050831_328612/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050831_328612/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9847bfecf1c8acffa4bc943373df3ef8c72ecac2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050831_328612/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 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_050831_328612)\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_60_bar__plus_00_dot_98_bar__plus_00_dot_10 - object\n Apple_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_49 - object\n Bowl_bar__plus_00_dot_81_bar__plus_01_dot_67_bar__minus_01_dot_62 - object\n 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(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 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 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(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 SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_45)\n (pickupable Plate_bar__plus_00_dot_97_bar__plus_00_dot_92_bar__plus_00_dot_61)\n (pickupable Ladle_bar__plus_03_dot_37_bar__plus_00_dot_94_bar__minus_00_dot_15)\n (pickupable Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (pickupable Apple_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_49)\n (pickupable Potato_bar__minus_00_dot_99_bar__plus_01_dot_04_bar__plus_01_dot_52)\n (pickupable Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n (pickupable Knife_bar__minus_00_dot_86_bar__plus_00_dot_93_bar__minus_00_dot_49)\n (pickupable Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__plus_01_dot_21)\n (pickupable Tomato_bar__plus_03_dot_15_bar__plus_00_dot_78_bar__plus_00_dot_17)\n (pickupable ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_84)\n (pickupable Cup_bar__minus_01_dot_05_bar__plus_01_dot_00_bar__plus_01_dot_42)\n (pickupable Spoon_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_34)\n (pickupable Spoon_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05)\n (pickupable Bread_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_33)\n (pickupable Apple_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__plus_00_dot_10)\n (pickupable Kettle_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_27)\n (pickupable Bowl_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_60)\n (pickupable SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_76)\n (pickupable PepperShaker_bar__minus_00_dot_05_bar__plus_00_dot_32_bar__minus_01_dot_28)\n (pickupable Bowl_bar__plus_00_dot_81_bar__plus_01_dot_67_bar__minus_01_dot_62)\n (pickupable Ladle_bar__minus_00_dot_99_bar__plus_00_dot_74_bar__plus_00_dot_49)\n (pickupable ButterKnife_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_34)\n (pickupable PepperShaker_bar__minus_00_dot_01_bar__plus_00_dot_70_bar__minus_01_dot_38)\n (pickupable CellPhone_bar__minus_00_dot_73_bar__plus_00_dot_70_bar__minus_00_dot_71)\n (pickupable Mug_bar__plus_01_dot_24_bar__plus_00_dot_88_bar__minus_01_dot_45)\n (pickupable Fork_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_01_dot_26)\n (pickupable Cup_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_00_dot_65)\n (pickupable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49)\n (pickupable PepperShaker_bar__plus_01_dot_35_bar__plus_01_dot_67_bar__minus_01_dot_41)\n (pickupable Spatula_bar__plus_03_dot_04_bar__plus_00_dot_92_bar__minus_00_dot_30)\n (pickupable CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_13_bar__minus_01_dot_43)\n (pickupable Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__plus_00_dot_63)\n (pickupable Cup_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_38)\n (pickupable Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (pickupable Ladle_bar__minus_00_dot_87_bar__plus_00_dot_56_bar__plus_01_dot_61)\n (pickupable Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_31)\n (pickupable Lettuce_bar__plus_01_dot_01_bar__plus_01_dot_31_bar__minus_01_dot_50)\n (pickupable SaltShaker_bar__minus_00_dot_08_bar__plus_00_dot_51_bar__minus_01_dot_31)\n (pickupable Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_79)\n (pickupable DishSponge_bar__plus_03_dot_15_bar__plus_00_dot_75_bar__plus_00_dot_03)\n (pickupable Bowl_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62)\n (pickupable CellPhone_bar__minus_00_dot_79_bar__plus_00_dot_70_bar__plus_00_dot_49)\n (pickupable Glassbottle_bar__plus_03_dot_25_bar__plus_01_dot_47_bar__minus_01_dot_55)\n (pickupable SaltShaker_bar__plus_03_dot_25_bar__plus_00_dot_17_bar__plus_00_dot_91)\n (isReceptacleObject Plate_bar__plus_00_dot_97_bar__plus_00_dot_92_bar__plus_00_dot_61)\n (isReceptacleObject Mug_bar__plus_03_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_59)\n (isReceptacleObject Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n (isReceptacleObject Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__plus_01_dot_21)\n (isReceptacleObject Cup_bar__minus_01_dot_05_bar__plus_01_dot_00_bar__plus_01_dot_42)\n (isReceptacleObject Bowl_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_60)\n (isReceptacleObject Bowl_bar__plus_00_dot_81_bar__plus_01_dot_67_bar__minus_01_dot_62)\n (isReceptacleObject Mug_bar__plus_01_dot_24_bar__plus_00_dot_88_bar__minus_01_dot_45)\n (isReceptacleObject Cup_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_00_dot_65)\n (isReceptacleObject Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__plus_00_dot_63)\n (isReceptacleObject Cup_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_38)\n (isReceptacleObject Pot_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__plus_00_dot_87)\n (isReceptacleObject Plate_bar__plus_03_dot_03_bar__plus_00_dot_19_bar__minus_00_dot_79)\n (isReceptacleObject Bowl_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62)\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 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Tomato_bar__plus_03_dot_15_bar__plus_00_dot_78_bar__plus_00_dot_17)\n (sliceable Bread_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_33)\n (sliceable Apple_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__plus_00_dot_10)\n (sliceable Bread_bar__plus_01_dot_53_bar__plus_00_dot_97_bar__plus_00_dot_49)\n (sliceable Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_31)\n (sliceable Lettuce_bar__plus_01_dot_01_bar__plus_01_dot_31_bar__minus_01_dot_50)\n \n (inReceptacleObject Bread_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_33 Plate_bar__plus_00_dot_97_bar__plus_00_dot_92_bar__plus_00_dot_61)\n (inReceptacle Ladle_bar__minus_00_dot_87_bar__plus_00_dot_56_bar__plus_01_dot_61 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_58_bar__plus_01_dot_43)\n (inReceptacle Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurner_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_09)\n (inReceptacle CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_13_bar__minus_01_dot_43 Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51)\n (inReceptacle PepperShaker_bar__plus_01_dot_35_bar__plus_01_dot_67_bar__minus_01_dot_41 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_76 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle CellPhone_bar__minus_00_dot_73_bar__plus_00_dot_70_bar__minus_00_dot_71 Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70)\n (inReceptacle Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92)\n (inReceptacle Glassbottle_bar__plus_03_dot_25_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 Ladle_bar__plus_03_dot_37_bar__plus_00_dot_94_bar__minus_00_dot_15 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 Bowl_bar__plus_03_dot_04_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)\n (inReceptacle Spatula_bar__plus_03_dot_04_bar__plus_00_dot_92_bar__minus_00_dot_30 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 Spoon_bar__minus_00_dot_79_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)\n (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 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_00_dot_92 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04)\n (inReceptacle Cup_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_00_dot_65 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 SaltShaker_bar__minus_00_dot_08_bar__plus_00_dot_51_bar__minus_01_dot_31 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32)\n (inReceptacle CellPhone_bar__minus_00_dot_79_bar__plus_00_dot_70_bar__plus_00_dot_49 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_74_bar__plus_00_dot_49 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66)\n (inReceptacle Plate_bar__plus_03_dot_08_bar__plus_00_dot_19_bar__plus_00_dot_63 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle SaltShaker_bar__plus_03_dot_25_bar__plus_00_dot_17_bar__plus_00_dot_91 Cabinet_bar__plus_02_dot_85_bar__plus_00_dot_42_bar__plus_00_dot_41)\n (inReceptacle PepperShaker_bar__minus_00_dot_01_bar__plus_00_dot_70_bar__minus_01_dot_38 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_77_bar__minus_01_dot_32)\n (inReceptacle Plate_bar__plus_03_dot_03_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 Bowl_bar__plus_00_dot_81_bar__plus_01_dot_67_bar__minus_01_dot_62 Cabinet_bar__plus_00_dot_62_bar__plus_01_dot_87_bar__minus_01_dot_26)\n (inReceptacle SaltShaker_bar__plus_00_dot_42_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 Apple_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_49 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52)\n (inReceptacle Fork_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_01_dot_26 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43)\n (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66)\n (inReceptacle Plate_bar__plus_00_dot_97_bar__plus_00_dot_92_bar__plus_00_dot_61 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 Bread_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle Apple_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__plus_00_dot_10 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 ButterKnife_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_34 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46)\n (inReceptacle PepperShaker_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 Spoon_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_34 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_39_bar__plus_01_dot_43)\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 DishSponge_bar__plus_03_dot_15_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 Tomato_bar__plus_03_dot_15_bar__plus_00_dot_78_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_88_bar__minus_01_dot_45 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Lettuce_bar__plus_01_dot_01_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 (inReceptacle Cup_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_38 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_03_bar__minus_01_dot_47)\n (inReceptacle Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_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_00_dot_99_bar__plus_01_dot_04_bar__plus_01_dot_52 Microwave_bar__minus_01_dot_03_bar__plus_00_dot_89_bar__plus_01_dot_43)\n (inReceptacle Cup_bar__minus_01_dot_05_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_01_dot_05_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 Mug_bar__plus_01_dot_24_bar__plus_00_dot_88_bar__minus_01_dot_45 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_03_dot_04_bar__plus_00_dot_90_bar__minus_00_dot_60 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_87_bar__plus_00_dot_33_bar__plus_01_dot_34 loc_bar_0_bar_2_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_73_bar__plus_00_dot_70_bar__minus_00_dot_71 loc_bar__minus_1_bar_1_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 Apple_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__plus_00_dot_10 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_84 loc_bar_0_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_35_bar__plus_01_dot_67_bar__minus_01_dot_41 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation SaltShaker_bar__plus_03_dot_25_bar__plus_00_dot_17_bar__plus_00_dot_91 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_05_bar__plus_01_dot_00_bar__plus_01_dot_42 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_87_bar__plus_00_dot_56_bar__plus_01_dot_61 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_97_bar__plus_00_dot_92_bar__plus_00_dot_61 loc_bar_4_bar__minus_2_bar_0_bar_45)\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 (objectAtLocation Cup_bar__plus_01_dot_24_bar__plus_00_dot_71_bar__minus_01_dot_38 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_00_dot_81_bar__plus_01_dot_67_bar__minus_01_dot_62 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation PepperShaker_bar__minus_00_dot_01_bar__plus_00_dot_70_bar__minus_01_dot_38 loc_bar_2_bar__minus_2_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_42_bar__plus_00_dot_90_bar__minus_01_dot_45 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__plus_01_dot_21 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_29_bar__plus_00_dot_13_bar__minus_01_dot_43 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_03_dot_37_bar__plus_00_dot_94_bar__minus_00_dot_15 loc_bar_10_bar__minus_2_bar_1_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_08_bar__plus_00_dot_19_bar__plus_00_dot_63 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Glassbottle_bar__plus_03_dot_25_bar__plus_01_dot_47_bar__minus_01_dot_55 loc_bar_8_bar__minus_5_bar_1_bar_0)\n (objectAtLocation SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_76 loc_bar_4_bar__minus_2_bar_2_bar__minus_15)\n (objectAtLocation Potato_bar__minus_00_dot_99_bar__plus_01_dot_04_bar__plus_01_dot_52 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__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_01_dot_26 loc_bar_0_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_99_bar__plus_00_dot_74_bar__plus_00_dot_49 loc_bar__minus_1_bar__minus_1_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 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_03_dot_04_bar__plus_00_dot_92_bar__minus_00_dot_30 loc_bar_10_bar__minus_2_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_86_bar__plus_00_dot_93_bar__minus_00_dot_49 loc_bar__minus_1_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_01_bar__plus_01_dot_31_bar__minus_01_dot_50 loc_bar_4_bar__minus_2_bar_2_bar_60)\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__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_00_dot_65 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_08_bar__plus_00_dot_51_bar__minus_01_dot_31 loc_bar_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_05_bar__plus_01_dot_05_bar__plus_01_dot_31 loc_bar__minus_1_bar_5_bar_3_bar_45)\n (objectAtLocation PepperShaker_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 ButterKnife_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_34 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_49 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_33 loc_bar_4_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_79_bar__plus_00_dot_70_bar__plus_00_dot_49 loc_bar__minus_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_03_dot_15_bar__plus_00_dot_75_bar__plus_00_dot_03 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_03_dot_15_bar__plus_00_dot_78_bar__plus_00_dot_17 loc_bar_10_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_00_dot_05 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation Bowl_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 (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 SpatulaType)\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 spatula 1 from countertop 1", "go to sinkbasin 1", "clean spatula 1 with sinkbasin 1", "go to countertop 1", "move spatula 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-Spatula-None-CounterTop-30/trial_T20190909_050831_328612/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050831_328612/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9a1b8e855b2ba2ef92fe18161ee6c30056e057fd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Spatula-None-CounterTop-30/trial_T20190909_050831_328612/initial_state.pddl @@ -0,0 +1,1469 @@ + +(define (problem plan_trial_T20190909_050831_328612) +(: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_60_bar__plus_00_dot_98_bar__plus_00_dot_10 - object + Apple_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_49 - object + Bowl_bar__plus_00_dot_81_bar__plus_01_dot_67_bar__minus_01_dot_62 - object + 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Drawer_bar__plus_00_dot_38_bar__plus_00_dot_19_bar__minus_01_dot_51) + (inReceptacle PepperShaker_bar__plus_01_dot_35_bar__plus_01_dot_67_bar__minus_01_dot_41 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26) + (inReceptacle SoapBottle_bar__plus_01_dot_35_bar__plus_01_dot_68_bar__minus_01_dot_76 Cabinet_bar__plus_01_dot_40_bar__plus_01_dot_87_bar__minus_01_dot_26) + (inReceptacle CellPhone_bar__minus_00_dot_73_bar__plus_00_dot_70_bar__minus_00_dot_71 Drawer_bar__minus_00_dot_68_bar__plus_00_dot_77_bar__minus_00_dot_70) + (inReceptacle Pan_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92 StoveBurner_bar__minus_00_dot_42_bar__plus_00_dot_90_bar__minus_00_dot_92) + (inReceptacle Glassbottle_bar__plus_03_dot_25_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 Ladle_bar__plus_03_dot_37_bar__plus_00_dot_94_bar__minus_00_dot_15 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 Bowl_bar__plus_03_dot_04_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 Spatula_bar__plus_03_dot_04_bar__plus_00_dot_92_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 Spoon_bar__minus_00_dot_79_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 Bowl_bar__minus_01_dot_01_bar__plus_00_dot_90_bar__plus_00_dot_62 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_00_dot_92 CounterTop_bar__minus_01_dot_01_bar__plus_00_dot_94_bar__minus_00_dot_04) + (inReceptacle Cup_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_00_dot_65 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 SaltShaker_bar__minus_00_dot_08_bar__plus_00_dot_51_bar__minus_01_dot_31 Drawer_bar__minus_00_dot_05_bar__plus_00_dot_57_bar__minus_01_dot_32) + (inReceptacle CellPhone_bar__minus_00_dot_79_bar__plus_00_dot_70_bar__plus_00_dot_49 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_66) + (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_74_bar__plus_00_dot_49 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CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Apple_bar__minus_00_dot_04_bar__plus_00_dot_97_bar__minus_01_dot_49 CounterTop_bar__plus_00_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_52) + (inReceptacle Fork_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_01_dot_26 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_01_dot_43) + (inReceptacle ButterKnife_bar__minus_00_dot_87_bar__plus_00_dot_13_bar__plus_00_dot_84 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_19_bar__plus_00_dot_66) + (inReceptacle Plate_bar__plus_00_dot_97_bar__plus_00_dot_92_bar__plus_00_dot_61 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 Bread_bar__plus_00_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_33 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle Apple_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__plus_00_dot_10 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 ButterKnife_bar__plus_00_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_34 CounterTop_bar__plus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_46) + (inReceptacle PepperShaker_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 Spoon_bar__minus_00_dot_87_bar__plus_00_dot_33_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 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stove top, then turn left and walk forward across the room to the spatula on the counter by the sink.", + "Pick up the spatula from the counter.", + "Put the spatula in the sink, rinse it off, and take it back out.", + "Turn right, walk slightly forward, then turn left towards the counter.", + "Put the spatula on the counter, in front of and to the left of the bowl." + ], + "task_desc": "Put a cleaned spatula on a counter top.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3TEM0PF1Q8OR3CF4WPJZZK1A2N80D5", + "high_descs": [ + "Make a left to walk around the kitchen island to the kitchen sink.", + "Pick up the spatula from the countertop.", + "Rinse the spatula in the kitchen sink.", + "Turn to face the countertop to the right of the sink.", + "Set the spatula down on the countertop." + ], + "task_desc": "Wash a spatula from the countertop to put it back.", + "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-Bowl-None-Microwave-19/trial_T20190909_041007_028354/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041007_028354/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..99fc03bacb7a37b6ca390ec7690387aea0723e6f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041007_028354/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool bowl in 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_041007_028354)\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_05_bar__plus_00_dot_76_bar__minus_00_dot_64 - object\n Apple_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_62 - object\n Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_62 - object\n Bowl_bar__minus_03_dot_08_bar__plus_00_dot_71_bar__minus_00_dot_89 - object\n Bread_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__minus_03_dot_11 - 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_04_bar__plus_00_dot_91_bar__minus_03_dot_88 - object\n ButterKnife_bar__minus_02_dot_24_bar__plus_00_dot_90_bar__minus_03_dot_59 - 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_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_70 - object\n DishSponge_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_34 - object\n DishSponge_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_73 - object\n DishSponge_bar__minus_01_dot_71_bar__plus_00_dot_79_bar__minus_03_dot_75 - object\n Egg_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_66 - object\n Egg_bar__minus_01_dot_78_bar__plus_00_dot_83_bar__minus_03_dot_62 - 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_41_bar__plus_00_dot_75_bar__minus_02_dot_86 - object\n Fork_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_03_dot_58 - object\n Knife_bar__minus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_25 - object\n Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_01_dot_25 - object\n Lettuce_bar__minus_03_dot_18_bar__plus_00_dot_73_bar__minus_02_dot_06 - object\n Lettuce_bar__minus_03_dot_35_bar__plus_01_dot_00_bar__minus_03_dot_66 - 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_07_bar__plus_01_dot_29_bar__minus_01_dot_35 - object\n Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_52 - object\n Mug_bar__minus_03_dot_18_bar__plus_01_dot_01_bar__minus_01_dot_88 - object\n Pan_bar__minus_00_dot_39_bar__plus_00_dot_97_bar__minus_02_dot_41 - object\n PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_08_bar__minus_03_dot_56 - object\n PepperShaker_bar__minus_02_dot_63_bar__plus_00_dot_91_bar__minus_03_dot_66 - object\n PepperShaker_bar__minus_03_dot_08_bar__plus_01_dot_86_bar__minus_02_dot_45 - object\n Plate_bar__minus_02_dot_27_bar__plus_00_dot_91_bar__minus_03_dot_88 - object\n Potato_bar__minus_02_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_70 - object\n Pot_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 - object\n SaltShaker_bar__minus_00_dot_18_bar__plus_01_dot_29_bar__minus_03_dot_73 - object\n SaltShaker_bar__minus_03_dot_29_bar__plus_00_dot_71_bar__minus_00_dot_37 - object\n SaltShaker_bar__minus_03_dot_39_bar__plus_01_dot_29_bar__minus_02_dot_96 - 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_22_bar__plus_00_dot_08_bar__minus_00_dot_07 - object\n SoapBottle_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_49 - object\n SoapBottle_bar__minus_00_dot_50_bar__plus_00_dot_92_bar__minus_01_dot_43 - object\n Spatula_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__minus_02_dot_86 - object\n Spatula_bar__minus_03_dot_29_bar__plus_00_dot_73_bar__minus_00_dot_37 - object\n Spoon_bar__minus_00_dot_35_bar__plus_00_dot_75_bar__minus_01_dot_41 - object\n Spoon_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_51 - object\n Spoon_bar__minus_02_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_56 - 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_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_37 - object\n Tomato_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78 - 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_6_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 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 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CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Fork_bar__minus_01_dot_26_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 Plate_bar__minus_02_dot_27_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 ButterKnife_bar__minus_00_dot_04_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 DishSponge_bar__minus_00_dot_65_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 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 PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_08_bar__minus_03_dot_56 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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_02_dot_72_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 Bowl_bar__minus_03_dot_08_bar__plus_00_dot_71_bar__minus_00_dot_89 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle SaltShaker_bar__minus_03_dot_29_bar__plus_00_dot_71_bar__minus_00_dot_37 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spatula_bar__minus_03_dot_29_bar__plus_00_dot_73_bar__minus_00_dot_37 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Tomato_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Apple_bar__minus_03_dot_15_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 Potato_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)\n (inReceptacle Apple_bar__minus_03_dot_05_bar__plus_00_dot_76_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_25 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_01_dot_25 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle Spoon_bar__minus_00_dot_35_bar__plus_00_dot_75_bar__minus_01_dot_41 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41)\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 Spoon_bar__minus_00_dot_42_bar__plus_00_dot_92_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_34_bar__plus_00_dot_92_bar__minus_00_dot_49 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle SoapBottle_bar__minus_00_dot_50_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 Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_52 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Pot_bar__minus_00_dot_17_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_41_bar__plus_00_dot_75_bar__minus_02_dot_86 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Spatula_bar__minus_00_dot_47_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 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)\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 SoapBottle_bar__minus_00_dot_22_bar__plus_00_dot_08_bar__minus_00_dot_07 GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04)\n (inReceptacle Mug_bar__minus_03_dot_18_bar__plus_01_dot_01_bar__minus_01_dot_88 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 Cup_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 (inReceptacle DishSponge_bar__minus_01_dot_71_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)\n (inReceptacle Egg_bar__minus_01_dot_78_bar__plus_00_dot_83_bar__minus_03_dot_62 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_01_dot_57_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 \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_42_bar__plus_00_dot_91_bar__minus_01_dot_62 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_52 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_51 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_71_bar__plus_00_dot_79_bar__minus_03_dot_75 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\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_03_dot_08_bar__plus_01_dot_86_bar__minus_02_dot_45 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_03_dot_29_bar__plus_00_dot_71_bar__minus_00_dot_37 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__minus_02_dot_86 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_49 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_62 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\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 Fork_bar__minus_00_dot_41_bar__plus_00_dot_75_bar__minus_02_dot_86 loc_bar__minus_4_bar__minus_12_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 Egg_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_66 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_07_bar__plus_01_dot_29_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15)\n (objectAtLocation PepperShaker_bar__minus_02_dot_63_bar__plus_00_dot_91_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_18_bar__plus_01_dot_29_bar__minus_03_dot_73 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_22_bar__plus_00_dot_08_bar__minus_00_dot_07 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_35_bar__plus_00_dot_75_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_01_dot_34 loc_bar__minus_7_bar__minus_4_bar_1_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_17_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_01_dot_78_bar__plus_00_dot_83_bar__minus_03_dot_62 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Cup_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 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_16_bar__plus_00_dot_95_bar__minus_03_dot_11 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_58 loc_bar__minus_4_bar__minus_13_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 Potato_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 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 Tomato_bar__minus_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_37 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_05_bar__plus_00_dot_76_bar__minus_00_dot_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_50_bar__plus_00_dot_92_bar__minus_01_dot_43 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_29_bar__plus_00_dot_73_bar__minus_00_dot_37 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_39_bar__plus_01_dot_29_bar__minus_02_dot_96 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (objectAtLocation Knife_bar__minus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_65_bar__plus_00_dot_08_bar__minus_03_dot_56 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_91_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_27_bar__plus_00_dot_91_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_73 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_02_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_56 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_18_bar__plus_01_dot_01_bar__minus_01_dot_88 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_03_dot_08_bar__plus_00_dot_71_bar__minus_00_dot_89 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take bowl 2 from countertop 2", "go to fridge 1", "cool bowl 2 with fridge 1", "go to microwave 1", "open microwave 1", "move bowl 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-Bowl-None-Microwave-19/trial_T20190909_041007_028354/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041007_028354/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c05048438dfaa8611838981106d5ddaaea79458c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041007_028354/initial_state.pddl @@ -0,0 +1,1110 @@ + +(define (problem plan_trial_T20190909_041007_028354) +(: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__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_73 - object + DishSponge_bar__minus_01_dot_71_bar__plus_00_dot_79_bar__minus_03_dot_75 - object + Egg_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_66 - object + Egg_bar__minus_01_dot_78_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_00_dot_41_bar__plus_00_dot_75_bar__minus_02_dot_86 - object + Fork_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_03_dot_58 - object + Knife_bar__minus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_25 - object + Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_01_dot_25 - object + Lettuce_bar__minus_03_dot_18_bar__plus_00_dot_73_bar__minus_02_dot_06 - 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 + 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SaltShaker_bar__minus_03_dot_39_bar__plus_01_dot_29_bar__minus_02_dot_96 - object + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SoapBottle_bar__minus_00_dot_22_bar__plus_00_dot_08_bar__minus_00_dot_07 - object + SoapBottle_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_49 - object + SoapBottle_bar__minus_00_dot_50_bar__plus_00_dot_92_bar__minus_01_dot_43 - object + Spatula_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__minus_02_dot_86 - object + Spatula_bar__minus_03_dot_29_bar__plus_00_dot_73_bar__minus_00_dot_37 - object + Spoon_bar__minus_00_dot_35_bar__plus_00_dot_75_bar__minus_01_dot_41 - object + Spoon_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_51 - object + Spoon_bar__minus_02_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_56 - 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_44_bar__plus_00_dot_76_bar__minus_00_dot_37 - object + Tomato_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78 - 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 + 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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_6_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 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0.917129338, + "z": -0.5075458 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -0.176295757, + "y": 0.910999954, + "z": -0.5248228 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -0.41940093, + "y": 0.913598061, + "z": -1.61635566 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 102541458, + "scene_num": 19 + }, + "task_id": "trial_T20190909_041007_028354", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2871R3LEPWMMK_33OOO72IVKCIET6HUVCYZPLXEZ2TCL", + "high_descs": [ + "Turn around and walk to the counter next to the stove on the right.", + "Pick up the brown bowl from the right side of the counter.", + "Turn around and walk to the black fridge.", + "Put the bowl inside the fridge on the top right shelf, chill it, remove it and close the doors.", + "Turn around and walk to the microwave on the counter ahead.", + "Put the chilled bowl inside the microwave and close the door." + ], + "task_desc": "Place a chilled bowl in a microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3STRJBFXOZI0XRI5M8TWN8Y5J8PKT3", + "high_descs": [ + "Turn around and walk over to to the counter to the left of the oven.", + "Pick up the wooden bowl off of the counter.", + "Turn right and walk forward, then hang a right and walk up to the fridge.", + "Open the fridge and put the wooden bowl inside then close the door, after a couple seconds open the fridge back up and remove the now chilled wooden bowl then close the door.", + "Turn right and walk over to the microwave on the counter.", + "Put the chilled wooden bowl into the microwave then close the microwave." + ], + "task_desc": "Put a chilled wooden bowl in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3XM0HYN6NNQZJZXO9599K3K3A8UPE5", + "high_descs": [ + "Turn left and walk to the left of the stove.", + "Pick up the tan bowl on the counter.", + "Turn around and walk to the fridge.", + "Place the bowl in the fridge to the left of the black mug. Close the door, wait a moment, and take it out again.", + "Turn around and veer left to the microwave.", + "Place the bowl in the microwave." + ], + "task_desc": "Place a chilled bowl in a 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-Bowl-None-Microwave-19/trial_T20190909_041115_655821/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041115_655821/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..acf612de6d53be89988f9cf376611a82d50dfb16 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041115_655821/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 bowl 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_041115_655821)\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_00_dot_76_bar__minus_00_dot_21 - object\n Bowl_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_03_dot_35 - object\n Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_89 - object\n 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Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_89)\n (cleanable DishSponge_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95)\n (cleanable Apple_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_21)\n (cleanable Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03)\n (cleanable Bowl_bar__minus_03_dot_35_bar__plus_00_dot_91_bar__minus_03_dot_80)\n (cleanable DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_38)\n (cleanable Spoon_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_11)\n (cleanable Bowl_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_03_dot_35)\n (cleanable Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_50)\n (cleanable Spatula_bar__minus_00_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_37)\n (cleanable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_50)\n (cleanable Spatula_bar__minus_03_dot_11_bar__plus_00_dot_76_bar__minus_02_dot_86)\n (cleanable Fork_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_49)\n (cleanable Spoon_bar__minus_03_dot_29_bar__plus_00_dot_71_bar__minus_00_dot_56)\n (cleanable Bowl_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_39)\n (cleanable Plate_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63)\n (cleanable Mug_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_04_dot_03)\n (cleanable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21)\n (cleanable Spoon_bar__minus_02_dot_63_bar__plus_00_dot_91_bar__minus_03_dot_95)\n (cleanable Knife_bar__minus_03_dot_14_bar__plus_00_dot_95_bar__minus_03_dot_33)\n \n (heatable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68)\n (heatable Tomato_bar__minus_00_dot_34_bar__plus_00_dot_97_bar__minus_01_dot_43)\n (heatable Plate_bar__minus_02_dot_01_bar__plus_00_dot_08_bar__minus_03_dot_67)\n (heatable Cup_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_79)\n (heatable Apple_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_21)\n (heatable Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03)\n (heatable Bread_bar__minus_02_dot_87_bar__plus_00_dot_76_bar__minus_00_dot_64)\n (heatable Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_50)\n (heatable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_50)\n (heatable Plate_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63)\n (heatable Mug_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_04_dot_03)\n (heatable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21)\n (coolable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68)\n (coolable Pan_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_02_dot_91)\n (coolable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76)\n (coolable Tomato_bar__minus_00_dot_34_bar__plus_00_dot_97_bar__minus_01_dot_43)\n (coolable Pot_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03)\n (coolable Plate_bar__minus_02_dot_01_bar__plus_00_dot_08_bar__minus_03_dot_67)\n (coolable Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45)\n (coolable Cup_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_79)\n (coolable Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_89)\n (coolable Apple_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_21)\n (coolable Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03)\n (coolable Bowl_bar__minus_03_dot_35_bar__plus_00_dot_91_bar__minus_03_dot_80)\n (coolable Bread_bar__minus_02_dot_87_bar__plus_00_dot_76_bar__minus_00_dot_64)\n (coolable Bowl_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_03_dot_35)\n (coolable Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_50)\n (coolable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_50)\n (coolable Bowl_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_39)\n (coolable Plate_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63)\n (coolable Mug_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_04_dot_03)\n (coolable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21)\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 Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76)\n (sliceable Tomato_bar__minus_00_dot_34_bar__plus_00_dot_97_bar__minus_01_dot_43)\n (sliceable Apple_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_21)\n (sliceable Bread_bar__minus_02_dot_87_bar__plus_00_dot_76_bar__minus_00_dot_64)\n (sliceable Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_50)\n (sliceable Tomato_bar__minus_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_50)\n (sliceable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21)\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 PepperShaker_bar__minus_03_dot_23_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)\n (inReceptacle Pan_bar__minus_00_dot_08_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 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)\n (inReceptacle Bowl_bar__minus_03_dot_35_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 SoapBottle_bar__minus_03_dot_06_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)\n (inReceptacle DishSponge_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 ButterKnife_bar__minus_03_dot_39_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)\n (inReceptacle Spoon_bar__minus_00_dot_24_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 Mug_bar__minus_01_dot_90_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)\n (inReceptacle Spoon_bar__minus_02_dot_63_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 Knife_bar__minus_03_dot_14_bar__plus_00_dot_95_bar__minus_03_dot_33 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Bowl_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_03_dot_35 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48)\n (inReceptacle Bowl_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_39 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_03 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74)\n (inReceptacle Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_89 Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76)\n (inReceptacle Plate_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_02_dot_01_bar__plus_00_dot_08_bar__minus_03_dot_67 Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51)\n (inReceptacle Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Tomato_bar__minus_02_dot_44_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)\n (inReceptacle Apple_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_21 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle PepperShaker_bar__minus_02_dot_58_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 Bread_bar__minus_02_dot_87_bar__plus_00_dot_76_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spoon_bar__minus_03_dot_29_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 SaltShaker_bar__minus_03_dot_05_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 Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle SaltShaker_bar__minus_02_dot_70_bar__plus_00_dot_71_bar__minus_00_dot_06 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Spatula_bar__minus_03_dot_11_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 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 Spatula_bar__minus_00_dot_10_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 Fork_bar__minus_00_dot_26_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 Tomato_bar__minus_00_dot_34_bar__plus_00_dot_97_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_50_bar__plus_00_dot_91_bar__minus_01_dot_43 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_17_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 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)\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 (inReceptacle Cup_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_79 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_00_dot_37_bar__plus_00_dot_08_bar__minus_03_dot_35 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_03_dot_29_bar__plus_00_dot_71_bar__minus_00_dot_56 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_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 Plate_bar__minus_02_dot_01_bar__plus_00_dot_08_bar__minus_03_dot_67 loc_bar__minus_9_bar__minus_10_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_05_bar__plus_00_dot_71_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_37 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_02_dot_91 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\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 PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_43 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_89 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (objectAtLocation Bowl_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_39 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (objectAtLocation Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_02_dot_63_bar__plus_00_dot_91_bar__minus_03_dot_95 loc_bar__minus_4_bar__minus_13_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_17_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_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_50 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_79 loc_bar__minus_8_bar__minus_13_bar_2_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_87_bar__plus_00_dot_76_bar__minus_00_dot_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\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_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21 loc_bar__minus_7_bar__minus_2_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 Tomato_bar__minus_00_dot_34_bar__plus_00_dot_97_bar__minus_01_dot_43 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_74_bar__plus_00_dot_76_bar__minus_00_dot_21 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_03 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_11_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_02_dot_70_bar__plus_00_dot_71_bar__minus_00_dot_06 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_03_dot_14_bar__plus_00_dot_95_bar__minus_03_dot_33 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_23_bar__plus_00_dot_91_bar__minus_02_dot_93 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_03 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_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 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_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_11 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_04_dot_03 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_03_dot_35_bar__plus_00_dot_91_bar__minus_03_dot_80 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 (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take bowl 1 from countertop 1", "go to fridge 1", "cool bowl 1 with fridge 1", "go to microwave 1", "open microwave 1", "move bowl 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-Bowl-None-Microwave-19/trial_T20190909_041115_655821/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041115_655821/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e726ff302b005c5fdb80aee0bbe670a4208a8110 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041115_655821/initial_state.pddl @@ -0,0 +1,1069 @@ + +(define (problem plan_trial_T20190909_041115_655821) +(: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_00_dot_76_bar__minus_00_dot_21 - object + Bowl_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_03_dot_35 - object + Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_89 - object + Bowl_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_39 - object + Bowl_bar__minus_03_dot_35_bar__plus_00_dot_91_bar__minus_03_dot_80 - object + Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object + Bread_bar__minus_02_dot_87_bar__plus_00_dot_76_bar__minus_00_dot_64 - object + ButterKnife_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_03 - 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_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_79 - object + DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_03_dot_38 - object + DishSponge_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_95 - object + Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_50 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_49 - object + Knife_bar__minus_03_dot_14_bar__plus_00_dot_95_bar__minus_03_dot_33 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 - object + LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object + Mug_bar__minus_01_dot_90_bar__plus_00_dot_91_bar__minus_04_dot_03 - object + Pan_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_02_dot_91 - object + Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 - object + PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_43 - object + PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_43 - object + PepperShaker_bar__minus_03_dot_23_bar__plus_00_dot_91_bar__minus_02_dot_93 - object + Plate_bar__minus_01_dot_52_bar__plus_00_dot_08_bar__minus_03_dot_63 - object + Plate_bar__minus_02_dot_01_bar__plus_00_dot_08_bar__minus_03_dot_67 - object + Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03 - object + Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21 - object + Pot_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 - object + SaltShaker_bar__minus_02_dot_70_bar__plus_00_dot_71_bar__minus_00_dot_06 - object + SaltShaker_bar__minus_03_dot_05_bar__plus_00_dot_71_bar__minus_00_dot_92 - object + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SoapBottle_bar__minus_03_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_03 - object + Spatula_bar__minus_00_dot_10_bar__plus_00_dot_93_bar__minus_01_dot_37 - object + Spatula_bar__minus_03_dot_11_bar__plus_00_dot_76_bar__minus_02_dot_86 - object + Spoon_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_11 - object + Spoon_bar__minus_02_dot_63_bar__plus_00_dot_91_bar__minus_03_dot_95 - object + Spoon_bar__minus_03_dot_29_bar__plus_00_dot_71_bar__minus_00_dot_56 - 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_34_bar__plus_00_dot_97_bar__minus_01_dot_43 - object + Tomato_bar__minus_02_dot_44_bar__plus_00_dot_76_bar__minus_00_dot_50 - 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 + 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Bowl_bar__minus_03_dot_35_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 SoapBottle_bar__minus_03_dot_06_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 DishSponge_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 ButterKnife_bar__minus_03_dot_39_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 Spoon_bar__minus_00_dot_24_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 Mug_bar__minus_01_dot_90_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 Spoon_bar__minus_02_dot_63_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_03_dot_14_bar__plus_00_dot_95_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_37_bar__plus_00_dot_08_bar__minus_03_dot_35 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48) + (inReceptacle Bowl_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_02_dot_39 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_03 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74) + (inReceptacle Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_89 Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76) + (inReceptacle Plate_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_02_dot_01_bar__plus_00_dot_08_bar__minus_03_dot_67 Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Tomato_bar__minus_02_dot_44_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 Apple_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_21 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_02_dot_58_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 Bread_bar__minus_02_dot_87_bar__plus_00_dot_76_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spoon_bar__minus_03_dot_29_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 SaltShaker_bar__minus_03_dot_05_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 Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_70_bar__plus_00_dot_71_bar__minus_00_dot_06 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spatula_bar__minus_03_dot_11_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 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 Spatula_bar__minus_00_dot_10_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 Fork_bar__minus_00_dot_26_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) + (inReceptacle Tomato_bar__minus_00_dot_34_bar__plus_00_dot_97_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_50_bar__plus_00_dot_91_bar__minus_01_dot_43 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (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) + (inReceptacle Pot_bar__minus_00_dot_17_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 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_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) + (inReceptacle Cup_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_79 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) + 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"y": 0.9132642, + "z": -3.95224237 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_94d2125c", + "position": { + "x": -3.29236221, + "y": 0.7148996, + "z": -0.558499932 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -1.89526391, + "y": 0.9086999, + "z": -4.02755 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -0.373133272, + "y": 0.0796982646, + "z": -3.348648 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4057280223, + "scene_num": 19 + }, + "task_id": "trial_T20190909_041115_655821", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3G0WWMR1UYBODHBG2HRHAV4MTV8NQ8", + "high_descs": [ + "Turn right and walk towards the counter, then hang a right and take a step forward, turn left again and walk over to the counter then turn right and walk up to the counter.", + "Pick up the wooden bowl off of the counter.", + "Walk over to the fridge on your right.", + "Put the wooden bowl in the fridge for a couple seconds to let it get cold then take it out.", + "Turn right and walk up to the wooden table, then walk to the microwave on the counter to your right.", + "Put the chilled wooden bowl in the microwave and close the door." + ], + "task_desc": "Put a chilled wooden bowl in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3LEP4MGT3JRSNZIEU5GOJ1XTTRTBDQ", + "high_descs": [ + "Turn right and walk to the counter then turn right and walk to the counter.", + "Pick up the brown bowl that's in front of you.", + "Turn right and take a step to your right then walk a step forward and turn left to face the fridge.", + "Chill the bowl in the fridge then get it back out and close the door.", + "Turn around and walk to the microwave that's in front of you to your left and stand in front of it facing it.", + "Put the bowl in the microwave." + ], + "task_desc": "Put a chilled bowl in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3MMN5BL1W2VQOYKES50LK8MBEDCM3W", + "high_descs": [ + "Turn to the right, then right again and move to the far counter.", + "Pick up the bowl from the front of the counter.", + "Carry the bowl and take a step to the right to face the fridge.", + "Open the fridge and place the bowl inside. Shut the door and then open the door. Take out the bowl and shut the door.", + "Carry the bowl and turn around and locate the microwave across the room.", + "Open the microwave and place the bowl inside. Shut the door." + ], + "task_desc": "Chill a bowl and place it 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-Bowl-None-Microwave-19/trial_T20190909_041309_452416/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041309_452416/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..45c5f621763d41a70879ed4685158b87110510f5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041309_452416/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 bowl 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_041309_452416)\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_00_dot_96_bar__minus_01_dot_31 - object\n Apple_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_43 - object\n Apple_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__minus_03_dot_66 - object\n Bowl_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_01 - object\n Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_93 - object\n Bread_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_64 - object\n ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_66 - 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_01_bar__plus_00_dot_92_bar__minus_01_dot_56 - object\n Cup_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_62 - object\n Cup_bar__minus_00_dot_50_bar__plus_00_dot_92_bar__minus_01_dot_43 - object\n DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_67 - object\n DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_70 - object\n Egg_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_88 - object\n Egg_bar__minus_03_dot_26_bar__plus_00_dot_75_bar__minus_00_dot_71 - 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_18_bar__plus_00_dot_92_bar__minus_01_dot_37 - object\n Fork_bar__minus_02_dot_27_bar__plus_00_dot_91_bar__minus_03_dot_80 - object\n Knife_bar__minus_00_dot_35_bar__plus_00_dot_78_bar__minus_00_dot_61 - object\n Knife_bar__minus_02_dot_63_bar__plus_00_dot_95_bar__minus_03_dot_95 - object\n Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__minus_00_dot_50 - object\n Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56 - 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_68_bar__plus_00_dot_71_bar__minus_00_dot_07 - object\n Mug_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_78 - 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 Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_03 - object\n PepperShaker_bar__minus_02_dot_66_bar__plus_00_dot_71_bar__minus_00_dot_70 - object\n PepperShaker_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_21 - object\n Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_76 - object\n Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_95 - object\n Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_01_dot_92 - object\n Potato_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_49 - object\n Potato_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_89 - object\n Potato_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__minus_03_dot_80 - 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_34_bar__plus_00_dot_91_bar__minus_01_dot_56 - object\n SaltShaker_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_00_dot_92 - object\n SaltShaker_bar__minus_02_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_21 - object\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_89 - object\n SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_07 - object\n Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__minus_03_dot_95 - object\n Spatula_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_02_dot_86 - object\n Spoon_bar__minus_02_dot_74_bar__plus_00_dot_72_bar__minus_00_dot_64 - object\n Spoon_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__minus_00_dot_40 - object\n Spoon_bar__minus_03_dot_48_bar__plus_00_dot_91_bar__minus_03_dot_33 - 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_01_dot_91_bar__plus_00_dot_84_bar__minus_03_dot_83 - object\n Tomato_bar__minus_03_dot_31_bar__plus_00_dot_96_bar__minus_03_dot_33 - 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_6_bar__minus_2_bar_3_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 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Cup_bar__minus_00_dot_50_bar__plus_00_dot_92_bar__minus_01_dot_43 loc_bar__minus_4_bar__minus_5_bar_1_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_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_27_bar__plus_00_dot_91_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\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_03_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_89 loc_bar__minus_7_bar__minus_2_bar_3_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 Tomato_bar__minus_03_dot_31_bar__plus_00_dot_96_bar__minus_03_dot_33 loc_bar__minus_4_bar__minus_13_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_15_bar__plus_00_dot_76_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_89 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_02_dot_86 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_34_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_35_bar__plus_00_dot_78_bar__minus_00_dot_61 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_21 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_95 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation DishSponge_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 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_74_bar__plus_00_dot_72_bar__minus_00_dot_64 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_08_bar__plus_00_dot_91_bar__minus_03_dot_01 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 (coolable ?o)\n (objectType ?o BowlType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take bowl 2 from countertop 1", "go to fridge 1", "cool bowl 2 with fridge 1", "go to microwave 1", "open microwave 1", "move bowl 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-Bowl-None-Microwave-19/trial_T20190909_041309_452416/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041309_452416/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..077c8e6ab8ef3ef01bf9ddfba33892d40934648f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bowl-None-Microwave-19/trial_T20190909_041309_452416/initial_state.pddl @@ -0,0 +1,1152 @@ + +(define (problem plan_trial_T20190909_041309_452416) +(: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_00_dot_96_bar__minus_01_dot_31 - object + Apple_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_43 - object + Apple_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__minus_03_dot_66 - object + Bowl_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_01 - object + Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_93 - object + Bread_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_64 - object + ButterKnife_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_66 - 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_56 - object + Cup_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_62 - object + Cup_bar__minus_00_dot_50_bar__plus_00_dot_92_bar__minus_01_dot_43 - object + DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_67 - object + DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_70 - object + Egg_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_88 - object + Egg_bar__minus_03_dot_26_bar__plus_00_dot_75_bar__minus_00_dot_71 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_37 - object + Fork_bar__minus_02_dot_27_bar__plus_00_dot_91_bar__minus_03_dot_80 - object + Knife_bar__minus_00_dot_35_bar__plus_00_dot_78_bar__minus_00_dot_61 - object + Knife_bar__minus_02_dot_63_bar__plus_00_dot_95_bar__minus_03_dot_95 - object + Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__minus_00_dot_50 - object + Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_56 - object + LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object + Mug_bar__minus_02_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_07 - object + Mug_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_78 - 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_02_dot_66_bar__plus_00_dot_71_bar__minus_00_dot_70 - object + PepperShaker_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_21 - object + Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_76 - object + Plate_bar__minus_00_dot_65_bar__plus_00_dot_91_bar__minus_03_dot_95 - object + Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_01_dot_92 - object + Potato_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_49 - object + Potato_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_89 - object + Potato_bar__minus_03_dot_17_bar__plus_00_dot_96_bar__minus_03_dot_80 - object + Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SaltShaker_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__minus_01_dot_56 - object + SaltShaker_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_00_dot_92 - object + SaltShaker_bar__minus_02_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_21 - object + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_89 - object + SoapBottle_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_07 - object + Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__minus_03_dot_95 - object + Spatula_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_02_dot_86 - object + Spoon_bar__minus_02_dot_74_bar__plus_00_dot_72_bar__minus_00_dot_64 - object + Spoon_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__minus_00_dot_40 - object + Spoon_bar__minus_03_dot_48_bar__plus_00_dot_91_bar__minus_03_dot_33 - 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_01_dot_91_bar__plus_00_dot_84_bar__minus_03_dot_83 - object + Tomato_bar__minus_03_dot_31_bar__plus_00_dot_96_bar__minus_03_dot_33 - 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 + 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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_6_bar__minus_2_bar_3_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) + 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Spatula_bar__minus_00_dot_85_bar__plus_00_dot_93_bar__minus_03_dot_95 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_76 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45) + (inReceptacle SaltShaker_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_00_dot_92 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45) + (inReceptacle Plate_bar__minus_03_dot_28_bar__plus_01_dot_87_bar__minus_01_dot_92 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74) + (inReceptacle Bowl_bar__minus_02_dot_59_bar__plus_01_dot_29_bar__minus_03_dot_93 Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76) + (inReceptacle DishSponge_bar__minus_01_dot_61_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 Egg_bar__minus_03_dot_26_bar__plus_00_dot_75_bar__minus_00_dot_71 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_72_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_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 SaltShaker_bar__minus_02_dot_68_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 Bread_bar__minus_02_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_80_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_89 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Mug_bar__minus_02_dot_68_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 Potato_bar__minus_03_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_89 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_03_dot_15_bar__plus_00_dot_76_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_80_bar__plus_00_dot_71_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_02_dot_80_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 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 Spoon_bar__minus_02_dot_77_bar__plus_00_dot_72_bar__minus_00_dot_40 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_02_dot_66_bar__plus_00_dot_71_bar__minus_00_dot_70 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spatula_bar__minus_03_dot_08_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 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 Knife_bar__minus_00_dot_35_bar__plus_00_dot_78_bar__minus_00_dot_61 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76) + (inReceptacle Fork_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__minus_01_dot_37 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Cup_bar__minus_00_dot_50_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) + (inReceptacle Apple_bar__minus_00_dot_42_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 SaltShaker_bar__minus_00_dot_34_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) + (inReceptacle Cup_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 Potato_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Cup_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_56 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 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) + (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 Tomato_bar__minus_01_dot_91_bar__plus_00_dot_84_bar__minus_03_dot_83 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_64_bar__plus_00_dot_83_bar__minus_03_dot_88 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + (inReceptacle DishSponge_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 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Open the door and take the bowel out and close the door again.", + "turn right and move forward and then turn right move forward then turn left and move forward. Turn right and move forward to the microwave", + "place bowel inside of the microwave" + ], + "task_desc": "Take the bowel and chill it inside of the fridge and then heat it up inside of the microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3EQHHY4HQVJTA3BWVLQJM00YWNZ5G5", + "high_descs": [ + "Face the opposite direction and go to the counter to the right of the stove.", + "Pick up the square brown bowl from the counter.", + "Face the opposite direction and go to the fridge.", + "Chill the bowl in the fridge, then take it back out.", + "Turn around and take the bowl to the counter on the left of the stove.", + "Put the bowl into the microwave on the counter." + ], + "task_desc": "Put a chilled bowl into a microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3WEV0KO0OPJR4LZG5R2J9Q7TXFLDSZ", + "high_descs": [ + "Turn left then head to the stove counter on the left", + "Pick up the bowl on the counter", + "Turn right cross the room and head to the fridge", + "Open the fridge put in and out the bowl then close the fridge", + "Turn right then to the microwave", + "Open and put in the bowl in the microwave" + ], + "task_desc": "Put the chilled bowl in the microwave", + "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-Bread-None-DiningTable-16/trial_T20190908_173209_222002/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_173209_222002/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..51360ab03d263a4cd0b3b31d2799f9ff7628003c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_173209_222002/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 bread 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_173209_222002)\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_90_bar__plus_01_dot_91_bar__minus_01_dot_88 - object\n Apple_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_31 - object\n Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_10 - object\n Bowl_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_82 - object\n Bread_bar__plus_02_dot_79_bar__plus_01_dot_09_bar__minus_00_dot_24 - object\n ButterKnife_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_13 - object\n ButterKnife_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_04_dot_41 - object\n Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object\n Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_82 - object\n Cup_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 - object\n DishSponge_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__plus_00_dot_21 - object\n DishSponge_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_31 - object\n Egg_bar__plus_02_dot_30_bar__plus_00_dot_81_bar__plus_03_dot_80 - object\n Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object\n Fork_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_32 - object\n Fork_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69 - object\n Glassbottle_bar__minus_00_dot_71_bar__plus_00_dot_83_bar__plus_01_dot_34 - object\n HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object\n HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object\n Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_26 - object\n Knife_bar__minus_00_dot_78_bar__plus_00_dot_84_bar__plus_01_dot_57 - object\n Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_01_dot_82 - object\n Lettuce_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32 - object\n Lettuce_bar__minus_00_dot_67_bar__plus_01_dot_09_bar__plus_02_dot_43 - object\n LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object\n Mug_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_62 - object\n Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_41 - object\n Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 - object\n PaperTowelRoll_bar__plus_02_dot_63_bar__plus_00_dot_87_bar__plus_03_dot_75 - object\n PepperShaker_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_41 - object\n PepperShaker_bar__plus_02_dot_30_bar__plus_01_dot_02_bar__plus_01_dot_21 - object\n PepperShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_15 - object\n Plate_bar__plus_02_dot_76_bar__plus_00_dot_76_bar__plus_04_dot_18 - object\n Plate_bar__minus_00_dot_90_bar__plus_02_dot_29_bar__minus_00_dot_55 - object\n Potato_bar__plus_02_dot_23_bar__plus_00_dot_81_bar__plus_04_dot_50 - object\n Potato_bar__plus_03_dot_00_bar__plus_01_dot_07_bar__plus_01_dot_30 - object\n Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 - object\n Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object\n Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 - object\n SaltShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_06 - object\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object\n SoapBottle_bar__plus_02_dot_33_bar__plus_00_dot_76_bar__plus_04_dot_33 - object\n SoapBottle_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_01_dot_15 - object\n SoapBottle_bar__minus_01_dot_19_bar__plus_01_dot_03_bar__plus_01_dot_52 - object\n Spatula_bar__plus_01_dot_63_bar__plus_00_dot_82_bar__plus_01_dot_72 - object\n Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_03_dot_45 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n Tomato_bar__plus_02_dot_16_bar__plus_01_dot_08_bar__plus_01_dot_35 - object\n Tomato_bar__plus_02_dot_29_bar__plus_00_dot_82_bar__plus_04_dot_09 - object\n Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object\n WineBottle_bar__plus_02_dot_07_bar__plus_00_dot_77_bar__plus_04_dot_18 - object\n WineBottle_bar__plus_02_dot_67_bar__plus_00_dot_77_bar__plus_03_dot_97 - object\n Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle\n Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle\n CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle\n CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle\n CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle\n DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle\n Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle\n Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle\n Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle\n Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle\n Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle\n GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle\n Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle\n loc_bar_2_bar_6_bar_3_bar_60 - location\n loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_10_bar_12_bar_0_bar_45 - location\n loc_bar_0_bar_6_bar_3_bar_45 - location\n loc_bar_2_bar_11_bar_3_bar_30 - location\n loc_bar_7_bar_0_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_0 - location\n loc_bar_8_bar__minus_4_bar_2_bar_0 - location\n loc_bar_0_bar_1_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar__minus_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar_45 - location\n loc_bar_8_bar__minus_1_bar_0_bar_45 - location\n loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar__minus_30 - location\n loc_bar_7_bar_3_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_3_bar_0_bar_45 - location\n loc_bar_0_bar__minus_1_bar_3_bar_60 - location\n loc_bar_6_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_2_bar_9_bar_3_bar_30 - location\n loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_2_bar_2_bar_3_bar_30 - location\n loc_bar_2_bar_8_bar_3_bar_60 - location\n loc_bar_8_bar_2_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_30 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_30 - location\n loc_bar_2_bar_4_bar_3_bar_60 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_7_bar__minus_3_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_60 - location\n loc_bar_0_bar_9_bar_3_bar_30 - location\n loc_bar_4_bar_4_bar_1_bar_45 - location\n loc_bar_6_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 DrawerType)\n (receptacleType DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 GarbageCanType)\n (receptacleType Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 ToasterType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 DrawerType)\n (receptacleType CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 CabinetType)\n (receptacleType Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 MicrowaveType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType)\n (receptacleType Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 CabinetType)\n (receptacleType Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 DrawerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType)\n (receptacleType Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 CounterTopType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 DrawerType)\n (objectType SoapBottle_bar__plus_02_dot_33_bar__plus_00_dot_76_bar__plus_04_dot_33 SoapBottleType)\n (objectType Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 ChairType)\n (objectType PepperShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_15 PepperShakerType)\n (objectType StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 StoveKnobType)\n (objectType Apple_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_31 AppleType)\n (objectType StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 StoveKnobType)\n (objectType Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_01_dot_82 LadleType)\n (objectType Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 PotType)\n (objectType Plate_bar__plus_02_dot_76_bar__plus_00_dot_76_bar__plus_04_dot_18 PlateType)\n (objectType SaltShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_06 SaltShakerType)\n (objectType Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 PotType)\n (objectType Lettuce_bar__minus_00_dot_67_bar__plus_01_dot_09_bar__plus_02_dot_43 LettuceType)\n (objectType Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_82 CupType)\n (objectType DishSponge_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_31 DishSpongeType)\n (objectType SoapBottle_bar__minus_01_dot_19_bar__plus_01_dot_03_bar__plus_01_dot_52 SoapBottleType)\n (objectType ButterKnife_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_13 ButterKnifeType)\n (objectType Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_10 AppleType)\n (objectType WineBottle_bar__plus_02_dot_07_bar__plus_00_dot_77_bar__plus_04_dot_18 WineBottleType)\n (objectType Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 PotType)\n (objectType Glassbottle_bar__minus_00_dot_71_bar__plus_00_dot_83_bar__plus_01_dot_34 GlassbottleType)\n (objectType Plate_bar__minus_00_dot_90_bar__plus_02_dot_29_bar__minus_00_dot_55 PlateType)\n (objectType ButterKnife_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_04_dot_41 ButterKnifeType)\n (objectType PepperShaker_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_41 PepperShakerType)\n (objectType Potato_bar__plus_02_dot_23_bar__plus_00_dot_81_bar__plus_04_dot_50 PotatoType)\n (objectType Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_26 KnifeType)\n (objectType StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 StoveKnobType)\n (objectType PaperTowelRoll_bar__plus_02_dot_63_bar__plus_00_dot_87_bar__plus_03_dot_75 PaperTowelRollType)\n (objectType Apple_bar__plus_01_dot_90_bar__plus_01_dot_91_bar__minus_01_dot_88 AppleType)\n (objectType Lettuce_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32 LettuceType)\n (objectType Fork_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_32 ForkType)\n (objectType Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_41 MugType)\n (objectType Potato_bar__plus_03_dot_00_bar__plus_01_dot_07_bar__plus_01_dot_30 PotatoType)\n (objectType Bread_bar__plus_02_dot_79_bar__plus_01_dot_09_bar__minus_00_dot_24 BreadType)\n (objectType Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 PanType)\n (objectType Cup_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 CupType)\n (objectType Bowl_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_82 BowlType)\n (objectType LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 LightSwitchType)\n (objectType PepperShaker_bar__plus_02_dot_30_bar__plus_01_dot_02_bar__plus_01_dot_21 PepperShakerType)\n (objectType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 SinkType)\n (objectType Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_03_dot_45 SpoonType)\n (objectType Egg_bar__plus_02_dot_30_bar__plus_00_dot_81_bar__plus_03_dot_80 EggType)\n (objectType Tomato_bar__plus_02_dot_29_bar__plus_00_dot_82_bar__plus_04_dot_09 TomatoType)\n (objectType Knife_bar__minus_00_dot_78_bar__plus_00_dot_84_bar__plus_01_dot_57 KnifeType)\n (objectType HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 HousePlantType)\n (objectType Mug_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_62 MugType)\n (objectType Fork_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69 ForkType)\n (objectType HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 HousePlantType)\n (objectType Tomato_bar__plus_02_dot_16_bar__plus_01_dot_08_bar__plus_01_dot_35 TomatoType)\n (objectType Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 WindowType)\n (objectType Spatula_bar__plus_01_dot_63_bar__plus_00_dot_82_bar__plus_01_dot_72 SpatulaType)\n (objectType DishSponge_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__plus_00_dot_21 DishSpongeType)\n (objectType SoapBottle_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_01_dot_15 SoapBottleType)\n (objectType WineBottle_bar__plus_02_dot_67_bar__plus_00_dot_77_bar__plus_03_dot_97 WineBottleType)\n (objectType StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 StoveKnobType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\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 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 PotType)\n (canContain CabinetType WineBottleType)\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 PotType)\n (canContain CabinetType WineBottleType)\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 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 PotType)\n (canContain CabinetType WineBottleType)\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 PotType)\n (canContain CabinetType WineBottleType)\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 PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\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 SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DiningTableType SaltShakerType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType WineBottleType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType EggType)\n (canContain DiningTableType LadleType)\n (canContain DiningTableType ForkType)\n (canContain DiningTableType GlassbottleType)\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 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CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle DishSponge_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle SoapBottle_bar__minus_01_dot_19_bar__plus_01_dot_03_bar__plus_01_dot_52 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle ButterKnife_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_13 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13)\n (inReceptacle DishSponge_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__plus_00_dot_21 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16)\n (inReceptacle Spatula_bar__plus_01_dot_63_bar__plus_00_dot_82_bar__plus_01_dot_72 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67)\n (inReceptacle PepperShaker_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_41 Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36)\n (inReceptacle Plate_bar__minus_00_dot_90_bar__plus_02_dot_29_bar__minus_00_dot_55 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87)\n (inReceptacle Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60)\n (inReceptacle Apple_bar__plus_01_dot_90_bar__plus_01_dot_91_bar__minus_01_dot_88 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83)\n (inReceptacleObject Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84)\n (inReceptacle Knife_bar__minus_00_dot_78_bar__plus_00_dot_84_bar__plus_01_dot_57 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_26 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_10 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Glassbottle_bar__minus_00_dot_71_bar__plus_00_dot_83_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation 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(receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60)\n (receptacleAtLocation 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loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30)\n (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 loc_bar_8_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 loc_bar_7_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 loc_bar_7_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 loc_bar_2_bar_9_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30)\n (receptacleAtLocation Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__plus_00_dot_21 loc_bar_7_bar_0_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_82 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_13 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_15 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_31 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_67_bar__plus_01_dot_09_bar__plus_02_dot_43 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_90_bar__plus_02_dot_29_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30)\n (objectAtLocation WineBottle_bar__plus_02_dot_67_bar__plus_00_dot_77_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Tomato_bar__plus_02_dot_29_bar__plus_00_dot_82_bar__plus_04_dot_09 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_02_dot_23_bar__plus_00_dot_81_bar__plus_04_dot_50 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_19_bar__plus_01_dot_03_bar__plus_01_dot_52 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_26 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_10 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_41 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_02_dot_33_bar__plus_00_dot_76_bar__plus_04_dot_33 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Glassbottle_bar__minus_00_dot_71_bar__plus_00_dot_83_bar__plus_01_dot_34 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_78_bar__plus_00_dot_84_bar__plus_01_dot_57 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Egg_bar__plus_02_dot_30_bar__plus_00_dot_81_bar__plus_03_dot_80 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_03_dot_00_bar__plus_01_dot_07_bar__plus_01_dot_30 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_01_dot_82 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_02_dot_16_bar__plus_01_dot_08_bar__plus_01_dot_35 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0)\n (objectAtLocation WineBottle_bar__plus_02_dot_07_bar__plus_00_dot_77_bar__plus_04_dot_18 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_02_dot_76_bar__plus_00_dot_76_bar__plus_04_dot_18 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_63_bar__plus_00_dot_82_bar__plus_01_dot_72 loc_bar_4_bar_3_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_63_bar__plus_00_dot_87_bar__plus_03_dot_75 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_90_bar__plus_01_dot_91_bar__minus_01_dot_88 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (objectAtLocation SaltShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_06 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_02_dot_30_bar__plus_01_dot_02_bar__plus_01_dot_21 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_04_dot_41 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_02_dot_79_bar__plus_01_dot_09_bar__minus_00_dot_24 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_31 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_82 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_03_dot_45 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_62 loc_bar_10_bar_12_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o BreadType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take bread 1 from countertop 1", "go to fridge 1", "cool bread 1 with fridge 1", "go to diningtable 1", "move bread 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_173209_222002/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_173209_222002/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..141c2e65b98934c8557cd2ba9fa2a6b45f417cb1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_173209_222002/initial_state.pddl @@ -0,0 +1,1429 @@ + +(define (problem plan_trial_T20190908_173209_222002) +(: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_90_bar__plus_01_dot_91_bar__minus_01_dot_88 - object + Apple_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_31 - object + Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_10 - object + Bowl_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_82 - object + Bread_bar__plus_02_dot_79_bar__plus_01_dot_09_bar__minus_00_dot_24 - object + ButterKnife_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_13 - object + ButterKnife_bar__plus_02_dot_79_bar__plus_00_dot_76_bar__plus_04_dot_41 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_82 - object + Cup_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 - object + DishSponge_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__plus_00_dot_21 - object + DishSponge_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_31 - object + Egg_bar__plus_02_dot_30_bar__plus_00_dot_81_bar__plus_03_dot_80 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_32 - object + Fork_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69 - object + Glassbottle_bar__minus_00_dot_71_bar__plus_00_dot_83_bar__plus_01_dot_34 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_26 - object + Knife_bar__minus_00_dot_78_bar__plus_00_dot_84_bar__plus_01_dot_57 - object + Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_01_dot_82 - object + Lettuce_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32 - object + Lettuce_bar__minus_00_dot_67_bar__plus_01_dot_09_bar__plus_02_dot_43 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_03_dot_62 - object + Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_41 - object + Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 - object + PaperTowelRoll_bar__plus_02_dot_63_bar__plus_00_dot_87_bar__plus_03_dot_75 - object + PepperShaker_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_41 - object + PepperShaker_bar__plus_02_dot_30_bar__plus_01_dot_02_bar__plus_01_dot_21 - object + PepperShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_15 - object + Plate_bar__plus_02_dot_76_bar__plus_00_dot_76_bar__plus_04_dot_18 - object + Plate_bar__minus_00_dot_90_bar__plus_02_dot_29_bar__minus_00_dot_55 - object + Potato_bar__plus_02_dot_23_bar__plus_00_dot_81_bar__plus_04_dot_50 - object + Potato_bar__plus_03_dot_00_bar__plus_01_dot_07_bar__plus_01_dot_30 - object + Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + SaltShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_06 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_02_dot_33_bar__plus_00_dot_76_bar__plus_04_dot_33 - object + SoapBottle_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_01_dot_15 - object + SoapBottle_bar__minus_01_dot_19_bar__plus_01_dot_03_bar__plus_01_dot_52 - object + Spatula_bar__plus_01_dot_63_bar__plus_00_dot_82_bar__plus_01_dot_72 - object + Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_03_dot_45 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__plus_02_dot_16_bar__plus_01_dot_08_bar__plus_01_dot_35 - object + Tomato_bar__plus_02_dot_29_bar__plus_00_dot_82_bar__plus_04_dot_09 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_02_dot_07_bar__plus_00_dot_77_bar__plus_04_dot_18 - object + WineBottle_bar__plus_02_dot_67_bar__plus_00_dot_77_bar__plus_03_dot_97 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle + CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle + CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle + DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle + Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle + Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle + Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle + Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle + Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle + GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle + Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + loc_bar_2_bar_6_bar_3_bar_60 - location + loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_10_bar_12_bar_0_bar_45 - location + loc_bar_0_bar_6_bar_3_bar_45 - location + loc_bar_2_bar_11_bar_3_bar_30 - location + loc_bar_7_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_0_bar_1_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar__minus_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_45 - location + loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar__minus_30 - location + loc_bar_7_bar_3_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_3_bar_0_bar_45 - location + loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_2_bar_2_bar_3_bar_30 - location + loc_bar_2_bar_8_bar_3_bar_60 - location + loc_bar_8_bar_2_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location + loc_bar_0_bar_9_bar_3_bar_30 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar_6_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType 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CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_01_dot_82 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle SaltShaker_bar__minus_01_dot_19_bar__plus_01_dot_02_bar__plus_01_dot_06 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Lettuce_bar__minus_00_dot_67_bar__plus_01_dot_09_bar__plus_02_dot_43 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Cup_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle DishSponge_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle SoapBottle_bar__minus_01_dot_19_bar__plus_01_dot_03_bar__plus_01_dot_52 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StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60) + (inReceptacle Apple_bar__plus_01_dot_90_bar__plus_01_dot_91_bar__minus_01_dot_88 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacleObject Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84) + (inReceptacle Knife_bar__minus_00_dot_78_bar__plus_00_dot_84_bar__plus_01_dot_57 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_26 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_78_bar__plus_00_dot_87_bar__plus_01_dot_10 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__plus_01_dot_41 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(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-Bread-None-DiningTable-16/trial_T20190908_173209_222002/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_173209_222002/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0402e061a4d4a916af0315f228ce0fcd56c265d0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_173209_222002/traj_data.json @@ -0,0 +1,10399 @@ +{ + "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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"objectName": "ButterKnife_98253f2a", + "position": { + "x": 2.76249552, + "y": 0.802755952, + "z": -1.13257444 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": 2.79063821, + "y": 1.09497416, + "z": -0.236300111 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": 1.92600012, + "y": 0.76306, + "z": 3.821562 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 2.65041256, + "y": 0.801029265, + "z": 0.2108581 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": 2.97600031, + "y": 0.7629045, + "z": 3.821563 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": 2.451, + "y": 0.7655996, + "z": 3.445 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": -0.5775822, + "y": 0.81155616, + "z": 1.4148221 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 859226488, + "scene_num": 16 + }, + "task_id": "trial_T20190908_173209_222002", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A14IPKOBOPID9H_31Q0U3WYDSW383DE5NVWCBQMRGY17U", + "high_descs": [ + "Turn around and head to the counter", + "Pick up the loaf of bread from the counter", + "Turn around and go to the fridge", + "Put the bread in the fridge, wait a bit, then take the bread out of the fridge", + "Turn right and go just pass the counter then turn right and go to the wall then turn left", + "Put the bread on the table" + ], + "task_desc": "Put the chilled loaf of bread on the kitchen table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2ALWT2BUSXD83_3J88R45B2JF04A2782AK76L8WP6PX4", + "high_descs": [ + "Turn to your right and walk to the counter.", + "grab the loaf of bread from the counter.", + "Turn around and walk to the fridge.", + "Place the bread in the fridge, wait, and remove the bread.", + "Turn around and walk to the white circle table in the corner.", + "Place the bread on the table." + ], + "task_desc": "Place a cooled loaf of bread on the white table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3VP0C6EFSJDH0SLYFZ92QPETUG1M6G", + "high_descs": [ + "Turn right and walk across the room to face the loaf of bread on the counter.", + "Pick up the loaf of bread on the counter.", + "Turn around and walk across the room to face the fridge.", + "Cool the bread in the fridge and then remove it.", + "Turn right and walk across the room, then turn right and walk across the room and walk to face the right side of the kitchen table.", + "Place the loaf of bread on the kitchen table." + ], + "task_desc": "To cool a loaf of bread and place it on the kitchen table.", + "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-Egg-None-CounterTop-14/trial_T20190909_042418_198168/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042418_198168/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e2421c329f103cf78925e9a8637bbbd6afe6f269 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042418_198168/initial_state.pddl @@ -0,0 +1,801 @@ + +(define (problem plan_trial_T20190909_042418_198168) +(: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_76_bar__plus_00_dot_97_bar__plus_01_dot_00 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_97 - object + Bowl_bar__plus_01_dot_81_bar__plus_02_dot_14_bar__plus_00_dot_84 - object + Bowl_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_59 - object + Bread_bar__plus_01_dot_73_bar__plus_00_dot_99_bar__minus_01_dot_55 - object + ButterKnife_bar__plus_00_dot_30_bar__plus_00_dot_90_bar__minus_01_dot_30 - object + Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object + Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object + Cup_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_47 - object + Cup_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_40 - object + Cup_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_29 - object + DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_23 - object + DishSponge_bar__plus_01_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_60 - object + DishSponge_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_47 - object + Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_52 - object + Knife_bar__plus_00_dot_48_bar__plus_00_dot_94_bar__plus_01_dot_00 - object + Knife_bar__plus_00_dot_73_bar__plus_00_dot_94_bar__plus_00_dot_83 - object + Knife_bar__plus_00_dot_73_bar__plus_00_dot_94_bar__plus_01_dot_00 - object + Ladle_bar__plus_01_dot_66_bar__plus_00_dot_96_bar__minus_01_dot_72 - object + Lettuce_bar__plus_01_dot_50_bar__plus_01_dot_01_bar__plus_00_dot_83 - object + Lettuce_bar__plus_01_dot_76_bar__plus_01_dot_01_bar__plus_01_dot_18 - object + LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 - object + Pan_bar__plus_01_dot_28_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + PepperShaker_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_62 - object + Plate_bar__plus_01_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_72 - object + Plate_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_54 - object + Potato_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_59 - object + Potato_bar__plus_01_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_73 - object + Potato_bar__minus_00_dot_22_bar__plus_01_dot_10_bar__minus_01_dot_38 - object + Pot_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + SaltShaker_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_31 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_18 - object + SoapBottle_bar__plus_01_dot_81_bar__plus_02_dot_13_bar__plus_01_dot_24 - object + Spatula_bar__plus_01_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_65 - object + Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_26 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object + Tomato_bar__plus_00_dot_99_bar__plus_00_dot_97_bar__plus_00_dot_92 - object + Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object + Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 - receptacle + Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 - receptacle + GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 - receptacle + Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 - receptacle + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_9_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_9_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar_1_bar_0_bar_45 - location + loc_bar_6_bar_9_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_15 - location + loc_bar_4_bar_0_bar_1_bar__minus_30 - location + loc_bar_0_bar_7_bar_1_bar_60 - location + loc_bar_3_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_0_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar_11_bar_0_bar_0 - location + loc_bar_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_1_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_0 - location + loc_bar_6_bar_11_bar_1_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_45 - location + loc_bar_0_bar__minus_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType) + (receptacleType Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 FridgeType) + (receptacleType GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 GarbageCanType) + (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 CabinetType) + (receptacleType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 MicrowaveType) + (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 CounterTopType) + (receptacleType Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 CounterTopType) + (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 CabinetType) + (objectType Ladle_bar__plus_01_dot_66_bar__plus_00_dot_96_bar__minus_01_dot_72 LadleType) + (objectType Lettuce_bar__plus_01_dot_50_bar__plus_01_dot_01_bar__plus_00_dot_83 LettuceType) + (objectType SaltShaker_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_31 SaltShakerType) + (objectType Apple_bar__plus_01_dot_76_bar__plus_00_dot_97_bar__plus_01_dot_00 AppleType) + (objectType Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_54 EggType) + (objectType Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 ChairType) + (objectType LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 LightSwitchType) + (objectType SoapBottle_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_18 SoapBottleType) + (objectType Bread_bar__plus_01_dot_73_bar__plus_00_dot_99_bar__minus_01_dot_55 BreadType) + (objectType Knife_bar__plus_00_dot_73_bar__plus_00_dot_94_bar__plus_00_dot_83 KnifeType) + (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType) + (objectType 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just up ahead", + "place the egg inside the fridge to cool, then take it back out", + "turn left and walk over to the coffee maker on the kitchen counter to the left of the fridge, turn to face the coffee maker", + "place the egg down on the kitchen counter there in front of the coffee maker" + ], + "task_desc": "place a cooled egg on the kitchen counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3F1567XTNZW3OF7M178CSU92O6EQ9Z", + "high_descs": [ + "Turn around and walk ahead, then turn right to face the sink. ", + "Pick up the egg in the sink.", + "Turn right and walk to the fridge.", + "Place the egg on the left side of the fridge, to the right of the potato. Close the door, wait a moment, and take the egg out again.", + "Take a step left.", + "Place the egg on the counter in front of the coffee maker." + ], + "task_desc": "Place a chilled egg on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3PW9OPU9PTB47R26VJ3IH6TGAOB21N", + "high_descs": [ + "Turn around and walk over to the counter, then turn right and walk up to the sink.", + "Take the egg out of the sink basin.", + "Turn 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 back up and take out the now chilled egg then close the fridge.", + "Turn left and walk towards the microwave, then turn right to face the coffee machine on the counter.", + "Put the chilled egg on the counter in front of the coffee machine." + ], + "task_desc": "Put a chilled egg on the counter.", + "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-Egg-None-CounterTop-14/trial_T20190909_042440_747747/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042440_747747/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9ccde06e515d1368c963271fdf82eab0bdae31d5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042440_747747/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 egg 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_T20190909_042440_747747)\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_22_bar__plus_01_dot_12_bar__minus_01_dot_36 - object\n Apple_bar__minus_00_dot_69_bar__plus_00_dot_80_bar__minus_01_dot_56 - object\n Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17 - object\n Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 - object\n Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 - object\n ButterKnife_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_60 - object\n ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92 - object\n ButterKnife_bar__plus_01_dot_53_bar__plus_00_dot_90_bar__plus_00_dot_52 - object\n Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object\n Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object\n Cup_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 - object\n Cup_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 - object\n DishSponge_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_01_dot_77 - object\n Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_60 - object\n Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_59 - object\n Egg_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_01_dot_73 - object\n Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n Fork_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_35 - object\n Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_74 - object\n Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_62 - object\n Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_18 - object\n Lettuce_bar__plus_00_dot_48_bar__plus_01_dot_01_bar__plus_01_dot_18 - object\n Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_01_bar__minus_01_dot_37 - object\n LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 - object\n Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72 - object\n Mug_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_54 - object\n Mug_bar__minus_00_dot_89_bar__plus_01_dot_09_bar__minus_01_dot_56 - object\n Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object\n PepperShaker_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_25 - object\n Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 - object\n Potato_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__minus_01_dot_71 - object\n Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object\n SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_09 - object\n Spatula_bar__plus_00_dot_22_bar__plus_00_dot_93_bar__plus_01_dot_00 - object\n Spoon_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 - object\n Spoon_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_46 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n Tomato_bar__minus_00_dot_64_bar__plus_01_dot_75_bar__minus_01_dot_59 - object\n Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object\n Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 - receptacle\n CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 - receptacle\n Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 - receptacle\n GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 - receptacle\n Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 - receptacle\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle\n StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle\n StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle\n StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle\n Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_4_bar_9_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_45 - location\n loc_bar_6_bar_9_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_15 - location\n loc_bar_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar_4_bar_1_bar_0_bar_45 - location\n loc_bar_6_bar_9_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_15 - location\n loc_bar_4_bar_0_bar_1_bar__minus_30 - location\n loc_bar_0_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_4_bar_0_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar_11_bar_0_bar_0 - location\n loc_bar_4_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar__minus_30 - location\n loc_bar_3_bar__minus_3_bar_2_bar_0 - location\n loc_bar_6_bar_11_bar_1_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_2_bar_45 - location\n loc_bar_7_bar_11_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 FridgeType)\n (receptacleType GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 GarbageCanType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 CabinetType)\n (receptacleType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 MicrowaveType)\n (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 CounterTopType)\n (receptacleType Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 CabinetType)\n (objectType SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_09 SoapBottleType)\n (objectType Spoon_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_46 SpoonType)\n (objectType Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 ChairType)\n (objectType LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 LightSwitchType)\n (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType)\n (objectType Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_18 LadleType)\n (objectType Egg_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_01_dot_73 EggType)\n (objectType ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92 ButterKnifeType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 StoveKnobType)\n (objectType DishSponge_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_01_dot_77 DishSpongeType)\n (objectType Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72 MugType)\n (objectType ButterKnife_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_60 ButterKnifeType)\n (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType)\n (objectType Cup_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 CupType)\n (objectType Tomato_bar__minus_00_dot_64_bar__plus_01_dot_75_bar__minus_01_dot_59 TomatoType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType)\n (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType)\n (objectType Cup_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 CupType)\n (objectType Lettuce_bar__plus_00_dot_48_bar__plus_01_dot_01_bar__plus_01_dot_18 LettuceType)\n (objectType Apple_bar__minus_00_dot_69_bar__plus_00_dot_80_bar__minus_01_dot_56 AppleType)\n (objectType PepperShaker_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_25 PepperShakerType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType)\n (objectType ButterKnife_bar__plus_01_dot_53_bar__plus_00_dot_90_bar__plus_00_dot_52 ButterKnifeType)\n (objectType Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_62 KnifeType)\n (objectType Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 WindowType)\n (objectType 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(objectType Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 BreadType)\n (objectType Spoon_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 SpoonType)\n (objectType Mug_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_54 MugType)\n (objectType Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17 BowlType)\n (objectType Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_74 KnifeType)\n (objectType Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 PanType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 StoveKnobType)\n (objectType Apple_bar__minus_00_dot_22_bar__plus_01_dot_12_bar__minus_01_dot_36 AppleType)\n (objectType Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_60 EggType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType 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Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_60)\n \n (inReceptacle Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle ButterKnife_bar__plus_01_dot_53_bar__plus_00_dot_90_bar__plus_00_dot_52 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_09 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_18 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Spoon_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Lettuce_bar__plus_00_dot_48_bar__plus_01_dot_01_bar__plus_01_dot_18 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_74 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Spatula_bar__plus_00_dot_22_bar__plus_00_dot_93_bar__plus_01_dot_00 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08)\n (inReceptacle Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32)\n (inReceptacle Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Fork_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_35 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_01_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Spoon_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_46 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_25 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08)\n (inReceptacle Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19)\n (inReceptacle Cup_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59)\n (inReceptacle Cup_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59)\n (inReceptacle DishSponge_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_01_dot_77 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89)\n (inReceptacle Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_59 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle Egg_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_01_dot_73 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle Potato_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__minus_01_dot_71 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_60 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_60 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_54 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Tomato_bar__minus_00_dot_64_bar__plus_01_dot_75_bar__minus_01_dot_59 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Mug_bar__minus_00_dot_89_bar__plus_01_dot_09_bar__minus_01_dot_56 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Apple_bar__minus_00_dot_69_bar__plus_00_dot_80_bar__minus_01_dot_56 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Apple_bar__minus_00_dot_22_bar__plus_01_dot_12_bar__minus_01_dot_36 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 loc_bar_4_bar__minus_3_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 loc_bar_4_bar_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 loc_bar_6_bar_9_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_48_bar__plus_01_dot_01_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_62 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_22_bar__plus_01_dot_12_bar__minus_01_dot_36 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation Mug_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_54 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_01_dot_73 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_53_bar__plus_00_dot_90_bar__plus_00_dot_52 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 loc_bar_0_bar_7_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 loc_bar_4_bar_9_bar_2_bar_60)\n (objectAtLocation Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_59 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_35 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_69_bar__plus_00_dot_80_bar__minus_01_dot_56 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_64_bar__plus_01_dot_75_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 loc_bar__minus_1_bar_11_bar_0_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 loc_bar_3_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Spatula_bar__plus_00_dot_22_bar__plus_00_dot_93_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_74 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_01_bar__minus_01_dot_37 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_25 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 loc_bar_6_bar_11_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_01_dot_77 loc_bar_4_bar__minus_3_bar_2_bar__minus_15)\n (objectAtLocation Spoon_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_89_bar__plus_01_dot_09_bar__minus_01_dot_56 loc_bar__minus_2_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 (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 sinkbasin 1", "take egg 3 from sinkbasin 1", "go to fridge 1", "cool egg 3 with fridge 1", "go to coffeemachine 1", "move egg 3 to countertop 2"]} \ 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-14/trial_T20190909_042440_747747/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042440_747747/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..adf5d9147a6b6cfe90996730c4b4e4abf0341b4d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042440_747747/initial_state.pddl @@ -0,0 +1,804 @@ + +(define (problem plan_trial_T20190909_042440_747747) +(: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_22_bar__plus_01_dot_12_bar__minus_01_dot_36 - object + Apple_bar__minus_00_dot_69_bar__plus_00_dot_80_bar__minus_01_dot_56 - object + Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17 - object + Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 - object + Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + ButterKnife_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_60 - object + ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92 - object + ButterKnife_bar__plus_01_dot_53_bar__plus_00_dot_90_bar__plus_00_dot_52 - object + Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object + Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object + Cup_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 - object + Cup_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 - object + DishSponge_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_01_dot_77 - object + Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_60 - object + Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_59 - object + Egg_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_01_dot_73 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_35 - object + Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_74 - object + Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_62 - object + Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_18 - object + Lettuce_bar__plus_00_dot_48_bar__plus_01_dot_01_bar__plus_01_dot_18 - object + Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_01_bar__minus_01_dot_37 - object + LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 - object + Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72 - object + Mug_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_54 - object + Mug_bar__minus_00_dot_89_bar__plus_01_dot_09_bar__minus_01_dot_56 - object + Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + PepperShaker_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_25 - object + Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 - object + Potato_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__minus_01_dot_71 - object + Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_62 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_09 - object + Spatula_bar__plus_00_dot_22_bar__plus_00_dot_93_bar__plus_01_dot_00 - object + Spoon_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 - object + Spoon_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_46 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object + Tomato_bar__minus_00_dot_64_bar__plus_01_dot_75_bar__minus_01_dot_59 - object + Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object + Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 - receptacle + Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 - receptacle + GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 - receptacle + Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 - receptacle + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_9_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_9_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar_1_bar_0_bar_45 - location + loc_bar_6_bar_9_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_15 - location + loc_bar_4_bar_0_bar_1_bar__minus_30 - location + loc_bar_0_bar_7_bar_1_bar_60 - location + loc_bar_3_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_0_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar_11_bar_0_bar_0 - location + loc_bar_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_1_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_0 - location + loc_bar_6_bar_11_bar_1_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_45 - location + loc_bar_7_bar_11_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType) + (receptacleType Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 FridgeType) + (receptacleType GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 GarbageCanType) + (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 CabinetType) + (receptacleType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 MicrowaveType) + (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 CounterTopType) + (receptacleType Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 CounterTopType) + (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 CabinetType) + (objectType SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_09 SoapBottleType) + (objectType Spoon_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_46 SpoonType) + (objectType Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 ChairType) + (objectType LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 LightSwitchType) + (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType) + (objectType Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_18 LadleType) + (objectType Egg_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_01_dot_73 EggType) + (objectType ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_92 ButterKnifeType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 StoveKnobType) + (objectType DishSponge_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_01_dot_77 DishSpongeType) + (objectType Mug_bar__plus_01_dot_87_bar__plus_00_dot_91_bar__minus_01_dot_72 MugType) + (objectType ButterKnife_bar__plus_01_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_60 ButterKnifeType) + (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType) + (objectType Cup_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 CupType) + (objectType Tomato_bar__minus_00_dot_64_bar__plus_01_dot_75_bar__minus_01_dot_59 TomatoType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType) + (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType) + (objectType Cup_bar__plus_01_dot_73_bar__plus_01_dot_65_bar__minus_00_dot_45 CupType) + (objectType Lettuce_bar__plus_00_dot_48_bar__plus_01_dot_01_bar__plus_01_dot_18 LettuceType) + (objectType Apple_bar__minus_00_dot_69_bar__plus_00_dot_80_bar__minus_01_dot_56 AppleType) + (objectType PepperShaker_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_25 PepperShakerType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType) + (objectType ButterKnife_bar__plus_01_dot_53_bar__plus_00_dot_90_bar__plus_00_dot_52 ButterKnifeType) + (objectType Knife_bar__plus_01_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_62 KnifeType) + (objectType Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 WindowType) + (objectType Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 PotType) + (objectType Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 PotType) + (objectType Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 ChairType) + (objectType Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_59 EggType) + (objectType Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_01_bar__minus_01_dot_37 LettuceType) + (objectType Spatula_bar__plus_00_dot_22_bar__plus_00_dot_93_bar__plus_01_dot_00 SpatulaType) + (objectType Mug_bar__minus_00_dot_89_bar__plus_01_dot_09_bar__minus_01_dot_56 MugType) + (objectType Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 BreadType) + (objectType SaltShaker_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_00_dot_62 SaltShakerType) + (objectType Fork_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_35 ForkType) + (objectType Potato_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__minus_01_dot_71 PotatoType) + (objectType Bread_bar__plus_00_dot_22_bar__plus_00_dot_99_bar__plus_00_dot_83 BreadType) + (objectType Spoon_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 SpoonType) + (objectType Mug_bar__minus_00_dot_74_bar__plus_00_dot_46_bar__minus_01_dot_54 MugType) + (objectType Bowl_bar__plus_00_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_17 BowlType) + (objectType Knife_bar__plus_00_dot_22_bar__plus_00_dot_94_bar__plus_00_dot_74 KnifeType) + (objectType Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 PanType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 StoveKnobType) + (objectType Apple_bar__minus_00_dot_22_bar__plus_01_dot_12_bar__minus_01_dot_36 AppleType) + (objectType Egg_bar__plus_00_dot_89_bar__plus_00_dot_80_bar__minus_01_dot_60 EggType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain FridgeType BreadType) + (canContain FridgeType BowlType) + (canContain FridgeType PotType) + (canContain FridgeType MugType) + (canContain FridgeType EggType) + (canContain FridgeType LettuceType) + (canContain FridgeType PotatoType) + (canContain FridgeType CupType) + (canContain FridgeType PlateType) + (canContain FridgeType TomatoType) + (canContain FridgeType AppleType) + (canContain FridgeType PanType) + (canContain GarbageCanType BreadType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType EggType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType LettuceType) + (canContain GarbageCanType PotatoType) + (canContain GarbageCanType TomatoType) + (canContain GarbageCanType AppleType) + (canContain CoffeeMachineType MugType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType BowlType) + (canContain CabinetType PotType) + (canContain CabinetType MugType) + (canContain CabinetType LadleType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType CupType) + (canContain CabinetType PlateType) + (canContain CabinetType PepperShakerType) + (canContain CabinetType PanType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType BowlType) + (canContain CabinetType PotType) + (canContain CabinetType MugType) + (canContain CabinetType LadleType) + (canContain CabinetType 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_89592edf", + "position": { + "x": 1.50158358, + "y": 0.9117294, + "z": 1.00428343 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_7266264e", + "position": { + "x": 0.193208635, + "y": 0.900000036, + "z": 1.17073774 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f9995e03", + "position": { + "x": 1.86599064, + "y": 0.906199932, + "z": -1.717294 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3785432474, + "scene_num": 14 + }, + "task_id": "trial_T20190909_042440_747747", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_3B3WTRP3DETMWW51ZWIBWCBZ809296", + "high_descs": [ + "Walk past the yellow chair on your left then turn left and walk past the counter then turn left and walk to the counter then turn right and walk to the sink.", + "Pick up the egg that's in the sink.", + "Turn right and walk to the fridge turning left to face it once you've gotten to it.", + "Chill the egg in the fridge then get it back out and close the door.", + "Take a step to your left to face the coffee maker.", + "Put the egg on the edge of the counter under the fork." + ], + "task_desc": "Put a cold egg on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3HUTX6F6VXEP3J971L1TT26O3ZVO26", + "high_descs": [ + "Walk towards the door, then hang a left and walk towards the fridge, hang a left and walk over to the counter then turn right and walk up to the sink.", + "Pick up the egg out of the sink basin.", + "Turn right and walk over to the fridge.", + "Put the egg in the fridge for a couple seconds to get cold then take it back out.", + "Turn left and walk towards the microwave, then turn right to face the coffee machine.", + "Put the chilled egg on the counter in front of the coffee machine." + ], + "task_desc": "Put a chilled egg on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3XXU1SWE8PMT55CSCFSX9JT4HKVA0X", + "high_descs": [ + "walk to the near end of the room up ahead, turn left and walk past the kitchen counter on your left ahead, turn left again and walk to the stove, then a right and walk over to the sink", + "grab the egg out of the sink there", + "turn right and walk over to the fridge on the left just up ahead", + "place the egg inside of the fridge and let it cool, then take it back out", + "move to the left just a bit to face the coffee maker on the kitchen counter to the right of the sink", + "place the egg down on the kitchen counter in front of the coffee maker" + ], + "task_desc": "place a cooled egg down on the kitchen counter", + "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-Egg-None-CounterTop-14/trial_T20190909_042505_382042/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042505_382042/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..41a34d3856b5a7180adc7ae34a48950cefeb40fd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042505_382042/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_042505_382042)\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_71_bar__plus_01_dot_07_bar__minus_00_dot_89 - object\n Apple_bar__minus_00_dot_64_bar__plus_00_dot_80_bar__minus_01_dot_56 - object\n Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_97 - object\n Bowl_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 - object\n Bread_bar__plus_00_dot_48_bar__plus_00_dot_99_bar__plus_01_dot_27 - object\n Bread_bar__minus_00_dot_79_bar__plus_00_dot_54_bar__minus_01_dot_41 - object\n ButterKnife_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_09 - object\n Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object\n Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object\n Cup_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_25 - object\n Cup_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_12 - object\n DishSponge_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__plus_00_dot_54 - object\n Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_64 - object\n Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_00 - object\n Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 - object\n Fork_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_46 - object\n Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 - object\n Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_09 - object\n Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 - object\n Lettuce_bar__plus_01_dot_76_bar__plus_01_dot_01_bar__plus_01_dot_00 - object\n LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 - object\n Mug_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_92 - object\n Mug_bar__minus_00_dot_69_bar__plus_01_dot_09_bar__minus_01_dot_63 - object\n Pan_bar__plus_01_dot_10_bar__plus_00_dot_76_bar__minus_01_dot_54 - object\n PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_01_dot_37 - object\n PepperShaker_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_80 - object\n Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 - object\n Plate_bar__plus_01_dot_81_bar__plus_01_dot_66_bar__minus_00_dot_40 - object\n Potato_bar__plus_00_dot_73_bar__plus_00_dot_95_bar__plus_00_dot_74 - object\n Potato_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_72 - object\n Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_26 - object\n SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 - object\n SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_00_dot_92 - object\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object\n SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_83 - object\n SoapBottle_bar__plus_01_dot_78_bar__plus_02_dot_13_bar__plus_01_dot_24 - object\n Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_63 - object\n Spatula_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__minus_01_dot_29 - object\n Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_18 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n Tomato_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_78 - object\n Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object\n Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 - receptacle\n Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 - receptacle\n CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 - receptacle\n CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 - receptacle\n Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 - receptacle\n GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 - receptacle\n Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 - receptacle\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle\n StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle\n StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle\n StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle\n Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_4_bar_9_bar_2_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar_4_bar_0_bar_1_bar_45 - location\n loc_bar_6_bar_9_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_15 - location\n loc_bar_1_bar__minus_3_bar_2_bar_45 - location\n loc_bar_4_bar_1_bar_0_bar_45 - location\n loc_bar_6_bar_9_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_15 - location\n loc_bar_4_bar_0_bar_1_bar__minus_30 - location\n loc_bar_0_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_4_bar_0_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar_11_bar_0_bar_0 - location\n loc_bar_4_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_1_bar_1_bar__minus_30 - location\n loc_bar_3_bar__minus_3_bar_2_bar_0 - location\n loc_bar_6_bar_11_bar_1_bar_45 - location\n loc_bar_4_bar__minus_1_bar_1_bar_45 - location\n loc_bar_2_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_1_bar_8_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 FridgeType)\n (receptacleType GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 GarbageCanType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 CabinetType)\n (receptacleType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 MicrowaveType)\n (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 CounterTopType)\n (receptacleType Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 CabinetType)\n (objectType SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_26 SaltShakerType)\n (objectType Apple_bar__plus_01_dot_71_bar__plus_01_dot_07_bar__minus_00_dot_89 AppleType)\n (objectType Tomato_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_78 TomatoType)\n (objectType Bowl_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 BowlType)\n (objectType SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_83 SoapBottleType)\n (objectType Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 ChairType)\n (objectType LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 LightSwitchType)\n (objectType Bread_bar__plus_00_dot_48_bar__plus_00_dot_99_bar__plus_01_dot_27 BreadType)\n (objectType Lettuce_bar__plus_01_dot_76_bar__plus_01_dot_01_bar__plus_01_dot_00 LettuceType)\n (objectType Potato_bar__plus_00_dot_73_bar__plus_00_dot_95_bar__plus_00_dot_74 PotatoType)\n (objectType Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 MugType)\n (objectType SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_00_dot_92 SaltShakerType)\n (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType)\n (objectType ButterKnife_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_09 ButterKnifeType)\n (objectType Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_00 ForkType)\n (objectType Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_64 EggType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 StoveKnobType)\n (objectType Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_97 BowlType)\n (objectType PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_01_dot_37 PepperShakerType)\n (objectType Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_18 SpoonType)\n (objectType DishSponge_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__plus_00_dot_54 DishSpongeType)\n (objectType SoapBottle_bar__plus_01_dot_78_bar__plus_02_dot_13_bar__plus_01_dot_24 SoapBottleType)\n (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType)\n (objectType Plate_bar__plus_01_dot_81_bar__plus_01_dot_66_bar__minus_00_dot_40 PlateType)\n (objectType Apple_bar__minus_00_dot_64_bar__plus_00_dot_80_bar__minus_01_dot_56 AppleType)\n (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType)\n (objectType Fork_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_46 ForkType)\n (objectType Potato_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_72 PotatoType)\n (objectType Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 KnifeType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType)\n (objectType Cup_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_12 CupType)\n (objectType Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 WindowType)\n (objectType Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 PotType)\n (objectType Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 PotType)\n (objectType Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 LadleType)\n (objectType Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_63 SpatulaType)\n (objectType Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 ChairType)\n (objectType Pan_bar__plus_01_dot_10_bar__plus_00_dot_76_bar__minus_01_dot_54 PanType)\n (objectType Bread_bar__minus_00_dot_79_bar__plus_00_dot_54_bar__minus_01_dot_41 BreadType)\n (objectType SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 SaltShakerType)\n (objectType Spatula_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__minus_01_dot_29 SpatulaType)\n (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 StoveKnobType)\n (objectType PepperShaker_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_80 PepperShakerType)\n (objectType Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_09 LadleType)\n (objectType Cup_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_25 CupType)\n (objectType Mug_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_92 MugType)\n (objectType Mug_bar__minus_00_dot_69_bar__plus_01_dot_09_bar__minus_01_dot_63 MugType)\n (objectType Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 ForkType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\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 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 CoffeeMachineType MugType)\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 StoveBurnerType PotType)\n (canContain 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Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_09 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Potato_bar__plus_00_dot_73_bar__plus_00_dot_95_bar__plus_00_dot_74 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Mug_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_92 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle ButterKnife_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_09 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_00 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02)\n (inReceptacle Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08)\n (inReceptacle PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_26 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Spatula_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__minus_01_dot_29 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Potato_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_72 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle PepperShaker_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_80 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_63 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Cup_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_25 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Fork_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_46 CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52)\n (inReceptacle Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08)\n (inReceptacle SoapBottle_bar__plus_01_dot_78_bar__plus_02_dot_13_bar__plus_01_dot_24 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31)\n (inReceptacle Cup_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_12 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31)\n (inReceptacle SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_00_dot_92 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69)\n (inReceptacle DishSponge_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__plus_00_dot_54 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67)\n (inReceptacle Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19)\n (inReceptacle Plate_bar__plus_01_dot_81_bar__plus_01_dot_66_bar__minus_00_dot_40 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59)\n (inReceptacle Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_97 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61)\n (inReceptacle SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21)\n (inReceptacle Tomato_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_78 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_64 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle Pan_bar__plus_01_dot_10_bar__plus_00_dot_76_bar__minus_01_dot_54 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_01_dot_71_bar__plus_01_dot_07_bar__minus_00_dot_89 Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60)\n (inReceptacle Mug_bar__minus_00_dot_69_bar__plus_01_dot_09_bar__minus_01_dot_63 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_00_dot_54_bar__minus_01_dot_41 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Apple_bar__minus_00_dot_64_bar__plus_00_dot_80_bar__minus_01_dot_56 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 loc_bar_4_bar__minus_3_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 loc_bar_4_bar_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 loc_bar_6_bar_9_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_97 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_01_dot_37 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bread_bar__plus_00_dot_48_bar__plus_00_dot_99_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_73_bar__plus_00_dot_95_bar__plus_00_dot_74 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_63 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_26 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_64_bar__plus_00_dot_80_bar__minus_01_dot_56 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_12 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_78_bar__plus_02_dot_13_bar__plus_01_dot_24 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (objectAtLocation Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Mug_bar__minus_00_dot_69_bar__plus_01_dot_09_bar__minus_01_dot_63 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_00_dot_92 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Fork_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 loc_bar_0_bar_7_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 loc_bar_4_bar_9_bar_2_bar_60)\n (objectAtLocation Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_81_bar__plus_01_dot_66_bar__minus_00_dot_40 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_25 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_64 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_71_bar__plus_01_dot_07_bar__minus_00_dot_89 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Pan_bar__plus_01_dot_10_bar__plus_00_dot_76_bar__minus_01_dot_54 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_78 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 loc_bar__minus_1_bar_11_bar_0_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 loc_bar_3_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Spatula_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__minus_01_dot_29 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_72 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_79_bar__plus_00_dot_54_bar__minus_01_dot_41 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_76_bar__plus_01_dot_01_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_80 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 loc_bar_6_bar_11_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__plus_00_dot_54 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_92 loc_bar_4_bar_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 EggType)\n (receptacleType ?r CounterTopType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take egg 1 from garbagecan 1", "go to fridge 1", "cool egg 1 with fridge 1", "go to coffeemachine 1", "move egg 1 to countertop 2"]} \ 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-14/trial_T20190909_042505_382042/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042505_382042/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..201b7fb4fc1f77dd047323accfab05c8c4d7e2e3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042505_382042/initial_state.pddl @@ -0,0 +1,825 @@ + +(define (problem plan_trial_T20190909_042505_382042) +(: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_71_bar__plus_01_dot_07_bar__minus_00_dot_89 - object + Apple_bar__minus_00_dot_64_bar__plus_00_dot_80_bar__minus_01_dot_56 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_97 - object + Bowl_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Bread_bar__plus_00_dot_48_bar__plus_00_dot_99_bar__plus_01_dot_27 - object + Bread_bar__minus_00_dot_79_bar__plus_00_dot_54_bar__minus_01_dot_41 - object + ButterKnife_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_09 - object + Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 - object + Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 - object + Cup_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_25 - object + Cup_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_12 - object + DishSponge_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__plus_00_dot_54 - object + Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_64 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_00 - object + Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 - object + Fork_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_46 - object + Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 - object + Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_09 - object + Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + Lettuce_bar__plus_01_dot_76_bar__plus_01_dot_01_bar__plus_01_dot_00 - object + LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 - object + Mug_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_92 - object + Mug_bar__minus_00_dot_69_bar__plus_01_dot_09_bar__minus_01_dot_63 - object + Pan_bar__plus_01_dot_10_bar__plus_00_dot_76_bar__minus_01_dot_54 - object + PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_01_dot_37 - object + PepperShaker_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_80 - object + Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 - object + Plate_bar__plus_01_dot_81_bar__plus_01_dot_66_bar__minus_00_dot_40 - object + Potato_bar__plus_00_dot_73_bar__plus_00_dot_95_bar__plus_00_dot_74 - object + Potato_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_72 - object + Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_26 - object + SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 - object + SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_00_dot_92 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_83 - object + SoapBottle_bar__plus_01_dot_78_bar__plus_02_dot_13_bar__plus_01_dot_24 - object + Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_63 - object + Spatula_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__minus_01_dot_29 - object + Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_18 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object + StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object + Tomato_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_78 - object + Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object + Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 - receptacle + Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 - receptacle + GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 - receptacle + Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 - receptacle + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_9_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_9_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar_1_bar_0_bar_45 - location + loc_bar_6_bar_9_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_15 - location + loc_bar_4_bar_0_bar_1_bar__minus_30 - location + loc_bar_0_bar_7_bar_1_bar_60 - location + loc_bar_3_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_0_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar_11_bar_0_bar_0 - location + loc_bar_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_1_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_0 - location + loc_bar_6_bar_11_bar_1_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar_8_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType) + (receptacleType Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 FridgeType) + (receptacleType GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 GarbageCanType) + (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 CabinetType) + (receptacleType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType) + (receptacleType Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 MicrowaveType) + (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 CounterTopType) + (receptacleType Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 CounterTopType) + (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 CabinetType) + (objectType SaltShaker_bar__plus_01_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_26 SaltShakerType) + (objectType Apple_bar__plus_01_dot_71_bar__plus_01_dot_07_bar__minus_00_dot_89 AppleType) + (objectType Tomato_bar__plus_01_dot_80_bar__plus_00_dot_13_bar__plus_01_dot_78 TomatoType) + (objectType Bowl_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 BowlType) + (objectType SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_83 SoapBottleType) + (objectType Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 ChairType) + (objectType LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 LightSwitchType) + (objectType Bread_bar__plus_00_dot_48_bar__plus_00_dot_99_bar__plus_01_dot_27 BreadType) + (objectType Lettuce_bar__plus_01_dot_76_bar__plus_01_dot_01_bar__plus_01_dot_00 LettuceType) + (objectType Potato_bar__plus_00_dot_73_bar__plus_00_dot_95_bar__plus_00_dot_74 PotatoType) + (objectType Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 MugType) + (objectType SaltShaker_bar__plus_01_dot_88_bar__plus_02_dot_13_bar__plus_00_dot_92 SaltShakerType) + (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType) + (objectType ButterKnife_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_09 ButterKnifeType) + (objectType Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_00 ForkType) + (objectType Egg_bar__plus_01_dot_74_bar__plus_00_dot_11_bar__plus_01_dot_64 EggType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 StoveKnobType) + (objectType Bowl_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_00_dot_97 BowlType) + (objectType PepperShaker_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_01_dot_37 PepperShakerType) + (objectType Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_18 SpoonType) + (objectType DishSponge_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__plus_00_dot_54 DishSpongeType) + (objectType SoapBottle_bar__plus_01_dot_78_bar__plus_02_dot_13_bar__plus_01_dot_24 SoapBottleType) + (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType) + (objectType Plate_bar__plus_01_dot_81_bar__plus_01_dot_66_bar__minus_00_dot_40 PlateType) + (objectType Apple_bar__minus_00_dot_64_bar__plus_00_dot_80_bar__minus_01_dot_56 AppleType) + (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType) + (objectType Fork_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_46 ForkType) + (objectType Potato_bar__plus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_72 PotatoType) + (objectType Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 KnifeType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType) + (objectType Cup_bar__plus_01_dot_84_bar__plus_02_dot_13_bar__plus_01_dot_12 CupType) + (objectType Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 WindowType) + (objectType Pot_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 PotType) + (objectType Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 PotType) + (objectType Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 LadleType) + (objectType Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_63 SpatulaType) + (objectType Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 ChairType) + (objectType Pan_bar__plus_01_dot_10_bar__plus_00_dot_76_bar__minus_01_dot_54 PanType) + (objectType Bread_bar__minus_00_dot_79_bar__plus_00_dot_54_bar__minus_01_dot_41 BreadType) + (objectType SaltShaker_bar__plus_01_dot_81_bar__plus_01_dot_63_bar__minus_01_dot_30 SaltShakerType) + (objectType Spatula_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__minus_01_dot_29 SpatulaType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 StoveKnobType) + (objectType PepperShaker_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_80 PepperShakerType) + (objectType Ladle_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_09 LadleType) + (objectType Cup_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_25 CupType) + (objectType Mug_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_92 MugType) + (objectType Mug_bar__minus_00_dot_69_bar__plus_01_dot_09_bar__minus_01_dot_63 MugType) + (objectType Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_01_dot_27 ForkType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain FridgeType BreadType) + (canContain FridgeType BowlType) + (canContain FridgeType PotType) + (canContain FridgeType MugType) + (canContain FridgeType EggType) + (canContain FridgeType LettuceType) + (canContain FridgeType PotatoType) + (canContain FridgeType CupType) + (canContain FridgeType PlateType) + (canContain FridgeType TomatoType) + (canContain FridgeType AppleType) + (canContain FridgeType PanType) + (canContain GarbageCanType BreadType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType EggType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType LettuceType) + (canContain GarbageCanType PotatoType) + (canContain GarbageCanType TomatoType) + (canContain GarbageCanType AppleType) + (canContain CoffeeMachineType MugType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType BowlType) + (canContain CabinetType PotType) + (canContain CabinetType MugType) + (canContain CabinetType LadleType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType CupType) + (canContain CabinetType PlateType) + (canContain CabinetType PepperShakerType) + (canContain CabinetType PanType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) 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Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_01_dot_84_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_4_bar_1_bar_0_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_92 loc_bar_4_bar_1_bar_0_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o EggType) + (receptacleType ?r CounterTopType) + (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-Egg-None-CounterTop-14/trial_T20190909_042505_382042/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-CounterTop-14/trial_T20190909_042505_382042/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..dc08ff3637b838ecc9136ca0be1e3e21a74c882c --- /dev/null +++ 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+ "task_desc": "place chilled egg on counter in front of coffee maker", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3WLEIWSYHR8FB2NKX8639T9NREVH2R", + "high_descs": [ + "Turn around and take a step then turn right and walk to the door then turn right to face the garbage.", + "Pick up the egg that's in the garbage in front of you.", + "Turn right and walk past the chairs to your left then turn left and walk past the counter and turn left and walk to the fridge that's in front of you.", + "Chill the egg in the fridge then get it back out and close the door.", + "Take a step to your left to face the coffee maker.", + "Put the egg on the counter under the coffee maker." + ], + "task_desc": "Put a cold egg on the counter.", + "votes": [ + 1, + 1, + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_35GMH2SV3H8HYZLNU5WUV3FD07FOEC", + "high_descs": [ + "turn around, take a step, turn right, walk to door, turn right to face black trash can", + "pick up the egg that is in the trash can", + "turn right, walk forward, turn left, walk to fridge", + "open fridge, put egg in, close fridge, wait a minute, take egg out of fridge", + "turn left, take a few steps, turn right to face coffee maker", + "put the egg on the counter in front of coffee maker" + ], + "task_desc": "put a chilled egg on the counter", + "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-Egg-None-SideTable-21/trial_T20190907_044013_708280/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044013_708280/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..afd231babbf5cf815cb05e16b75e86548e27cee8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044013_708280/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 egg 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_T20190907_044013_708280)\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_67_bar__plus_00_dot_83_bar__minus_00_dot_57 - object\n Apple_bar__plus_00_dot_76_bar__plus_00_dot_83_bar__minus_00_dot_79 - object\n Apple_bar__minus_01_dot_30_bar__plus_00_dot_11_bar__minus_03_dot_54 - 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_79_bar__plus_00_dot_01_bar__minus_00_dot_83 - object\n Bread_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 - object\n Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 - object\n ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84 - object\n ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 - 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_67_bar__plus_00_dot_77_bar__minus_00_dot_68 - object\n Cup_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73 - object\n Cup_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 - object\n DishSponge_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_10 - object\n Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_63 - object\n Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_09 - 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_78_bar__plus_00_dot_67_bar__plus_00_dot_33 - object\n Fork_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_18 - object\n Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 - 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 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__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_31 - object\n Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_20 - object\n Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_12 - object\n Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object\n Potato_bar__minus_01_dot_33_bar__plus_00_dot_09_bar__minus_03_dot_65 - object\n Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n SaltShaker_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__minus_00_dot_31 - object\n SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_76 - 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_90_bar__plus_00_dot_66_bar__plus_00_dot_39 - object\n SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_93 - object\n SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_45 - object\n Spatula_bar__minus_01_dot_64_bar__plus_00_dot_72_bar__minus_01_dot_42 - object\n Spatula_bar__minus_01_dot_89_bar__plus_00_dot_72_bar__minus_01_dot_20 - object\n Spoon_bar__plus_00_dot_61_bar__plus_00_dot_87_bar__minus_00_dot_20 - 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_11 - 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_0_bar__minus_7_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 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 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Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_09)\n (sliceable Apple_bar__minus_01_dot_30_bar__plus_00_dot_11_bar__minus_03_dot_54)\n (sliceable Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10)\n (sliceable Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_63)\n (sliceable Tomato_bar__plus_00_dot_75_bar__plus_00_dot_71_bar__minus_02_dot_11)\n (sliceable Apple_bar__plus_00_dot_76_bar__plus_00_dot_83_bar__minus_00_dot_79)\n (sliceable Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_57)\n \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_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13)\n (inReceptacle 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 SaltShaker_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__minus_00_dot_31 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Spoon_bar__plus_00_dot_61_bar__plus_00_dot_87_bar__minus_00_dot_20 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Fork_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_18 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11)\n (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79)\n (inReceptacle Bowl_bar__plus_00_dot_79_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_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 PepperShaker_bar__minus_01_dot_64_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 Mug_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_31 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\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 Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_09 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Spatula_bar__minus_01_dot_89_bar__plus_00_dot_72_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Spatula_bar__minus_01_dot_64_bar__plus_00_dot_72_bar__minus_01_dot_42 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05)\n (inReceptacle SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Bread_bar__plus_00_dot_66_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 Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle DishSponge_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle ButterKnife_bar__minus_00_dot_86_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 SaltShaker_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 Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95)\n (inReceptacle SoapBottle_bar__minus_00_dot_05_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_45_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 SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_45 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle Potato_bar__minus_01_dot_33_bar__plus_00_dot_09_bar__minus_03_dot_65 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Apple_bar__minus_01_dot_30_bar__plus_00_dot_11_bar__minus_03_dot_54 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_11 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96)\n (inReceptacle Cup_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 Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_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_67_bar__plus_00_dot_77_bar__minus_00_dot_68 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_00_dot_76_bar__plus_00_dot_83_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 Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_57 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 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 Bread_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__minus_00_dot_31 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Cup_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 Spatula_bar__minus_01_dot_89_bar__plus_00_dot_72_bar__minus_01_dot_20 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_63 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_57 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_30_bar__plus_00_dot_11_bar__minus_03_dot_54 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_45 loc_bar__minus_7_bar__minus_11_bar_2_bar_60)\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 Cup_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__minus_00_dot_68 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0)\n (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_68_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_78_bar__plus_00_dot_67_bar__plus_00_dot_33 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_76_bar__plus_00_dot_83_bar__minus_00_dot_79 loc_bar_1_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_64_bar__plus_00_dot_72_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_33_bar__plus_00_dot_09_bar__minus_03_dot_65 loc_bar__minus_4_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45)\n (objectAtLocation SaltShaker_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 PepperShaker_bar__minus_01_dot_64_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__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60)\n (objectAtLocation 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_75_bar__plus_00_dot_71_bar__minus_02_dot_11 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_61_bar__plus_00_dot_87_bar__minus_00_dot_20 loc_bar_1_bar_0_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_3_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_79_bar__plus_00_dot_01_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_1_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 SideTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take egg 1 from sinkbasin 1", "go to fridge 1", "cool egg 1 with fridge 1", "go to sidetable 1", "move egg 1 to sidetable 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-SideTable-21/trial_T20190907_044013_708280/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044013_708280/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..af312a3dd682e92f55e316ed2fc50ffdc2a3d0da --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044013_708280/initial_state.pddl @@ -0,0 +1,831 @@ + +(define (problem plan_trial_T20190907_044013_708280) +(: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_67_bar__plus_00_dot_83_bar__minus_00_dot_57 - object + Apple_bar__plus_00_dot_76_bar__plus_00_dot_83_bar__minus_00_dot_79 - object + Apple_bar__minus_01_dot_30_bar__plus_00_dot_11_bar__minus_03_dot_54 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_83 - object + Bread_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_39 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_10 - object + ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__minus_00_dot_68 - object + Cup_bar__plus_00_dot_79_bar__plus_01_dot_37_bar__minus_01_dot_73 - object + Cup_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 - object + DishSponge_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_01_dot_10 - object + Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_63 - object + Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_09 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 - object + Fork_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_18 - object + Knife_bar__plus_00_dot_62_bar__plus_00_dot_78_bar__plus_00_dot_00 - 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 + 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__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_31 - object + Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object + PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_20 - object + Plate_bar__plus_00_dot_68_bar__plus_00_dot_02_bar__minus_00_dot_12 - object + Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object + Potato_bar__minus_01_dot_33_bar__plus_00_dot_09_bar__minus_03_dot_65 - object + Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + SaltShaker_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__minus_00_dot_31 - object + SaltShaker_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_76 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_39 - object + SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_00_dot_93 - object + SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_45 - object + Spatula_bar__minus_01_dot_64_bar__plus_00_dot_72_bar__minus_01_dot_42 - object + Spatula_bar__minus_01_dot_89_bar__plus_00_dot_72_bar__minus_01_dot_20 - object + Spoon_bar__plus_00_dot_61_bar__plus_00_dot_87_bar__minus_00_dot_20 - 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_75_bar__plus_00_dot_71_bar__minus_02_dot_11 - 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_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_0_bar__minus_7_bar_0_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 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"turk_annotations": { + "anns": [ + { + "assignment_id": "A21KF567E8ZCLO_30BXRYBRP7ET2TZTFK6TWE5A07CHW5", + "high_descs": [ + "Turn left and go to the white table", + "Pick up the egg from the table", + "turn left and then walk towards the refrigerator", + "put the egg in the refrigerator for some time and then take the egg out of the refrigerator ", + "turn around, then turn right and walk the egg towards the black table", + "place the egg on the black table" + ], + "task_desc": "refrigerate an egg from a table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3KRVW3HTZQ2MNQJVMCC5RUALCH8MS0", + "high_descs": [ + "Walk forward to the sink, then turn left and walk to the white table across the room.", + "Pick up the egg on the edge of the table beneath the spatula. ", + "Turn to the left and walk to the chair on the right, then turn to the left and walk to the fridge. ", + "Open the fridge and place the egg on a shelf next to the tomato, then close the fridge door for five seconds then take the egg out. ", + "Turn to the left and walk across the room, and then turn right and walk to the table. ", + "Place the egg on the table to the left of the bread." + ], + "task_desc": "To chill an egg.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2Q3FS9G8ITCN7_3OCHAWUVGR1ZTJ5RVA5CBPZ92RYKXK", + "high_descs": [ + "Turn around to the left and walk over to the table. ", + "Pick up the egg from the table. ", + "Turn to the left and walk over to the refrigerator. ", + "Open the refrigerator, place the egg inside, close the door, open the door, and remove the egg. ", + "Turn to the left and walk to the black table. ", + "Place the egg on the black table. " + ], + "task_desc": "Placing a cool egg on a table. ", + "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-Egg-None-SideTable-21/trial_T20190907_044039_497081/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044039_497081/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..11f5f75d86144269ad313730c93f5286917a1f24 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044039_497081/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 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_T20190907_044039_497081)\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_64_bar__plus_00_dot_76_bar__minus_01_dot_31 - 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__minus_00_dot_08 - object\n Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object\n ButterKnife_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__minus_00_dot_06 - object\n ButterKnife_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object\n Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 - object\n DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 - object\n Egg_bar__minus_01_dot_60_bar__plus_00_dot_73_bar__minus_03_dot_70 - 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_57_bar__plus_00_dot_76_bar__minus_00_dot_19 - object\n Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__plus_00_dot_00 - object\n Knife_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_57 - 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_79_bar__plus_01_dot_25_bar__minus_01_dot_96 - object\n Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 - 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_62_bar__plus_00_dot_01_bar__plus_00_dot_01 - object\n Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 - object\n Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 - 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_72_bar__plus_00_dot_66_bar__plus_00_dot_51 - object\n PepperShaker_bar__plus_01_dot_04_bar__plus_00_dot_88_bar__minus_00_dot_46 - object\n PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_78 - object\n Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 - object\n Potato_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__minus_00_dot_11 - object\n Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_51 - object\n Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object\n Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object\n SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_57 - object\n SaltShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 - 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_72_bar__plus_00_dot_70_bar__minus_01_dot_52 - object\n Spatula_bar__plus_00_dot_67_bar__plus_00_dot_79_bar__minus_00_dot_85 - object\n Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_19 - object\n Spatula_bar__minus_01_dot_97_bar__plus_00_dot_72_bar__minus_01_dot_42 - object\n Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 - 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_01_dot_21_bar__minus_01_dot_73 - object\n Tomato_bar__minus_01_dot_30_bar__plus_00_dot_10_bar__minus_03_dot_65 - 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__minus_2_bar_0_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 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 Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_19 SpatulaType)\n (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType)\n (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_57 SaltShakerType)\n (objectType Potato_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__minus_00_dot_11 PotatoType)\n (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Egg_bar__minus_01_dot_60_bar__plus_00_dot_73_bar__minus_03_dot_70 EggType)\n (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType)\n (objectType Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_51 PotatoType)\n (objectType PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_78 PepperShakerType)\n (objectType PepperShaker_bar__plus_01_dot_04_bar__plus_00_dot_88_bar__minus_00_dot_46 PepperShakerType)\n (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType)\n (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType)\n (objectType Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_01_dot_96 LettuceType)\n (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType)\n (objectType ButterKnife_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_52 ButterKnifeType)\n (objectType Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 PlateType)\n (objectType SaltShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 SaltShakerType)\n (objectType Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 LettuceType)\n (objectType Mug_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__plus_00_dot_01 MugType)\n (objectType Tomato_bar__plus_00_dot_71_bar__plus_01_dot_21_bar__minus_01_dot_73 TomatoType)\n (objectType Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 MugType)\n (objectType Knife_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_57 KnifeType)\n (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType)\n (objectType Apple_bar__minus_01_dot_64_bar__plus_00_dot_76_bar__minus_01_dot_31 AppleType)\n (objectType Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 MugType)\n (objectType ButterKnife_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__minus_00_dot_06 ButterKnifeType)\n (objectType Egg_bar__minus_01_dot_79_bar__plus_00_dot_84_bar__minus_03_dot_74 EggType)\n (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType)\n (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType)\n (objectType Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 CupType)\n (objectType Spatula_bar__plus_00_dot_67_bar__plus_00_dot_79_bar__minus_00_dot_85 SpatulaType)\n (objectType Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__plus_00_dot_00 KnifeType)\n (objectType DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 DishSpongeType)\n (objectType Fork_bar__plus_00_dot_57_bar__plus_00_dot_76_bar__minus_00_dot_19 ForkType)\n (objectType Spatula_bar__minus_01_dot_97_bar__plus_00_dot_72_bar__minus_01_dot_42 SpatulaType)\n (objectType Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType)\n (objectType 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DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle Apple_bar__minus_01_dot_64_bar__plus_00_dot_76_bar__minus_01_dot_31 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96)\n (inReceptacle SoapBottle_bar__minus_01_dot_72_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 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 Knife_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45)\n (inReceptacle Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_33 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(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 Egg_bar__minus_01_dot_60_bar__plus_00_dot_73_bar__minus_03_dot_70 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37)\n (inReceptacle PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_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 Tomato_bar__minus_01_dot_30_bar__plus_00_dot_10_bar__minus_03_dot_65 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61)\n (inReceptacle Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_01_dot_96 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_01_dot_21_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 Spatula_bar__plus_00_dot_67_bar__plus_00_dot_79_bar__minus_00_dot_85 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin)\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 \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 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DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 loc_bar__minus_1_bar__minus_1_bar_1_bar_45)\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__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_01_dot_96 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_71_bar__plus_01_dot_21_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Spoon_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 Knife_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_57 loc_bar__minus_1_bar_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_95_bar__plus_01_dot_46_bar__minus_00_dot_08 loc_bar_1_bar_0_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o EggType)\n (receptacleType ?r SideTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take egg 2 from diningtable 1", "go to fridge 1", "cool egg 2 with fridge 1", "go to sidetable 1", "move egg 2 to sidetable 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-SideTable-21/trial_T20190907_044039_497081/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044039_497081/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..59d2731d39ca113ae0dda551f95b8e6ab3e19a6c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044039_497081/initial_state.pddl @@ -0,0 +1,832 @@ + +(define (problem plan_trial_T20190907_044039_497081) +(: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_00_dot_76_bar__minus_01_dot_31 - 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__minus_00_dot_08 - object + Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object + ButterKnife_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__minus_00_dot_06 - object + ButterKnife_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 - object + DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 - object + Egg_bar__minus_01_dot_60_bar__plus_00_dot_73_bar__minus_03_dot_70 - object + Egg_bar__minus_01_dot_79_bar__plus_00_dot_84_bar__minus_03_dot_74 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__plus_00_dot_57_bar__plus_00_dot_76_bar__minus_00_dot_19 - object + Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__plus_00_dot_00 - object + Knife_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_57 - object + Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_33 - object + Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_01_dot_96 - object + Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 - 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_62_bar__plus_00_dot_01_bar__plus_00_dot_01 - object + Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 - object + Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 - object + Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object + PepperShaker_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_51 - object + PepperShaker_bar__plus_01_dot_04_bar__plus_00_dot_88_bar__minus_00_dot_46 - object + PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_78 - object + Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 - object + Potato_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__minus_00_dot_11 - object + Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_51 - object + Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 - object + SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_57 - object + SaltShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + Spatula_bar__plus_00_dot_67_bar__plus_00_dot_79_bar__minus_00_dot_85 - object + Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_19 - object + Spatula_bar__minus_01_dot_97_bar__plus_00_dot_72_bar__minus_01_dot_42 - object + Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 - 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_01_dot_21_bar__minus_01_dot_73 - object + Tomato_bar__minus_01_dot_30_bar__plus_00_dot_10_bar__minus_03_dot_65 - 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_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_0_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 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 Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__minus_00_dot_19 SpatulaType) + (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType) + (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_57 SaltShakerType) + (objectType Potato_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__minus_00_dot_11 PotatoType) + (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Egg_bar__minus_01_dot_60_bar__plus_00_dot_73_bar__minus_03_dot_70 EggType) + (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_51 PotatoType) + (objectType PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_78 PepperShakerType) + (objectType PepperShaker_bar__plus_01_dot_04_bar__plus_00_dot_88_bar__minus_00_dot_46 PepperShakerType) + (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType) + (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType) + (objectType Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_01_dot_96 LettuceType) + (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType) + (objectType ButterKnife_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_52 ButterKnifeType) + (objectType Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 PlateType) + (objectType SaltShaker_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 SaltShakerType) + (objectType Lettuce_bar__plus_00_dot_80_bar__plus_00_dot_86_bar__minus_00_dot_74 LettuceType) + (objectType Mug_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__plus_00_dot_01 MugType) + (objectType Tomato_bar__plus_00_dot_71_bar__plus_01_dot_21_bar__minus_01_dot_73 TomatoType) + (objectType Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 MugType) + (objectType Knife_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_57 KnifeType) + (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType) + (objectType Apple_bar__minus_01_dot_64_bar__plus_00_dot_76_bar__minus_01_dot_31 AppleType) + (objectType Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 MugType) + (objectType ButterKnife_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__minus_00_dot_06 ButterKnifeType) + (objectType Egg_bar__minus_01_dot_79_bar__plus_00_dot_84_bar__minus_03_dot_74 EggType) + (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType) + (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType) + (objectType Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 CupType) + (objectType Spatula_bar__plus_00_dot_67_bar__plus_00_dot_79_bar__minus_00_dot_85 SpatulaType) + (objectType Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__plus_00_dot_00 KnifeType) + (objectType DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_25 DishSpongeType) + (objectType Fork_bar__plus_00_dot_57_bar__plus_00_dot_76_bar__minus_00_dot_19 ForkType) + (objectType Spatula_bar__minus_01_dot_97_bar__plus_00_dot_72_bar__minus_01_dot_42 SpatulaType) + (objectType Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 PotType) + (objectType Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 SpoonType) + (objectType Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_33 LettuceType) + (objectType 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SaltShaker_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_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79) + (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 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) + (inReceptacle Spatula_bar__minus_01_dot_97_bar__plus_00_dot_72_bar__minus_01_dot_42 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle ButterKnife_bar__minus_02_dot_05_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 Apple_bar__minus_01_dot_64_bar__plus_00_dot_76_bar__minus_01_dot_31 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle SoapBottle_bar__minus_01_dot_72_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 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) + (inReceptacle Knife_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_57 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 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DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Egg_bar__minus_01_dot_60_bar__plus_00_dot_73_bar__minus_03_dot_70 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_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 Tomato_bar__minus_01_dot_30_bar__plus_00_dot_10_bar__minus_03_dot_65 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61) + (inReceptacle Lettuce_bar__plus_00_dot_79_bar__plus_01_dot_25_bar__minus_01_dot_96 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_01_dot_21_bar__minus_01_dot_73 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loc_bar__minus_7_bar__minus_10_bar_3_bar_0) + (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) + (objectAtLocation Spatula_bar__minus_01_dot_97_bar__plus_00_dot_72_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation Potato_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_04_bar__plus_00_dot_88_bar__minus_00_dot_46 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation 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loc_bar__minus_1_bar_1_bar_1_bar_45) + (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) + (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__minus_00_dot_08 loc_bar_1_bar_0_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o EggType) + (receptacleType ?r SideTableType) + (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-Egg-None-SideTable-21/trial_T20190907_044039_497081/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Egg-None-SideTable-21/trial_T20190907_044039_497081/traj_data.json new file mode 100644 index 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0.473188043 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_cde1951c", + "position": { + "x": -1.552, + "y": 0.9306, + "z": 0.785 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_2b33f66e", + "position": { + "x": 0.1490823, + "y": 0.904587, + "z": 0.9297057 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Fork_34f12e87", + "position": { + "x": 0.574625134, + "y": 0.7611036, + "z": -0.188901335 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_d7803c74", + "position": { + "x": -1.71959925, + "y": 0.7010695, + "z": -1.52409041 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_093f2b24", + "position": { + "x": -1.63595831, + "y": 0.755279362, + "z": -1.30794287 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_63693e0a", + "position": { + "x": 0.7401087, + "y": -0.007886887, + "z": -0.596487045 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_c79ff911", + "position": { + "x": -1.59924114, + "y": 0.73318, + "z": -3.6983664 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_8142ce7b", + "position": { + "x": 0.6729982, + "y": 0.787556052, + "z": -0.845712662 + }, + "rotation": { + "x": -1.40334191e-14, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_027e0a30", + "position": { + "x": 0.9619548, + "y": 0.6984495, + "z": 0.508934 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_cb0de209", + "position": { + "x": -0.0518239737, + "y": 0.899250448, + "z": 1.10124457 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_886fcaf3", + "position": { + "x": 0.877196848, + "y": 0.8799061, + "z": -0.10800001 + }, + "rotation": { + 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"objectName": "Tomato_5a2cfc73", + "position": { + "x": -1.29754376, + "y": 0.100637436, + "z": -3.64760184 + }, + "rotation": { + "x": 0.0, + "y": 269.999878, + "z": 0.0 + } + }, + { + "objectName": "Spoon_93a81026", + "position": { + "x": 0.671831965, + "y": 0.7616844, + "z": -0.061030075 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_33d4fba0", + "position": { + "x": 0.7690388, + "y": 0.7836356, + "z": 0.00290554762 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": 0.6216665, + "y": 0.0107185841, + "z": 0.011385709 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": 0.9493945, + "y": 1.46226478, + "z": -0.08438939 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3245172168, + "scene_num": 21 + }, + "task_id": "trial_T20190907_044039_497081", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3A0VPWPASCO9J_31QTRG6Q2WUP4FSHDYWMQKSHY96PY8", + "high_descs": [ + "Walk past the table on the right and go to the microwave.", + "Take the egg out of the microwave.", + "Walk over to the fridge.", + "Put the egg in the fridge and cool it off.", + "Take the cold egg to the small table next to the garbage bag.", + "Put the cold egg on the front right corner of the small table." + ], + "task_desc": "Put a cold egg on the small table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3OS46CRSLIG0QFF7TRATDLX6LNN6VJ", + "high_descs": [ + "turn left and walk to the end of the room where the microwave is", + "grab the egg out of the microwave", + "turn left and walk over to the fridge at the end of the room there", + "place the egg inside of the fridge to let it cool then take it back out", + "move to the kitchen table on the left side of the room", + "place the egg on the black table at the end of the kitchen counter top" + ], + "task_desc": "place a cooled egg on the black kitchen table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3V26SBZTBGVJN94SWTW7VP3XE47ZZO", + "high_descs": [ + "Turn around and go to the microwave.", + "Open the microwave and take out the egg.", + "Go to the fridge on your left.", + "Chill the egg in the fridge and take it out again.", + "Move the small black table on your left.", + "Put the egg on the table." + ], + "task_desc": "Put a chilled egg on the small black table.", + "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-Lettuce-None-SinkBasin-4/trial_T20190907_142221_972253/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-4/trial_T20190907_142221_972253/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..504ded9b577aca12e6702a48d45d9e1c7e6d7ee0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-4/trial_T20190907_142221_972253/initial_state.pddl @@ -0,0 +1,929 @@ + +(define (problem plan_trial_T20190907_142221_972253) +(: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_79_bar__plus_01_dot_12_bar__plus_02_dot_82 - object + Apple_bar__minus_03_dot_37_bar__plus_00_dot_98_bar__plus_02_dot_92 - object + Apple_bar__minus_03_dot_37_bar__plus_01_dot_63_bar__plus_02_dot_99 - object + Bowl_bar__minus_03_dot_37_bar__plus_01_dot_28_bar__plus_02_dot_92 - object + Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 - object + ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + ButterKnife_bar__minus_00_dot_83_bar__plus_01_dot_12_bar__plus_00_dot_39 - object + Cup_bar__minus_00_dot_31_bar__plus_01_dot_21_bar__plus_00_dot_41 - object + Cup_bar__minus_03_dot_37_bar__plus_01_dot_28_bar__plus_03_dot_20 - object + DishSponge_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27 - object + DishSponge_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + DishSponge_bar__minus_02_dot_40_bar__plus_00_dot_49_bar__plus_00_dot_58 - object + Egg_bar__minus_00_dot_36_bar__plus_01_dot_26_bar__plus_00_dot_51 - object + Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_44 - object + Egg_bar__minus_03_dot_29_bar__plus_00_dot_95_bar__plus_02_dot_54 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_02_dot_14 - object + Fork_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + Fork_bar__minus_02_dot_14_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + 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DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Apple_bar__minus_00_dot_79_bar__plus_01_dot_12_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_29_bar__plus_01_dot_09_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_54_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 Tomato_bar__minus_00_dot_91_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 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 Fork_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Potato_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle PepperShaker_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 Knife_bar__minus_00_dot_79_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) + (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 PepperShaker_bar__minus_02_dot_50_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 Mug_bar__minus_01_dot_12_bar__plus_00_dot_04_bar__plus_00_dot_55 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle SoapBottle_bar__minus_01_dot_12_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) + (inReceptacle Pan_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 Potato_bar__minus_03_dot_89_bar__plus_01_dot_16_bar__plus_00_dot_28 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Mug_bar__minus_02_dot_64_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) + (inReceptacle DishSponge_bar__minus_02_dot_01_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 PepperShaker_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spatula_bar__minus_02_dot_39_bar__plus_01_dot_14_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle SaltShaker_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 Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Tomato_bar__minus_02_dot_26_bar__plus_01_dot_17_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Fork_bar__minus_02_dot_14_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Mug_bar__minus_02_dot_26_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 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 ButterKnife_bar__minus_00_dot_83_bar__plus_01_dot_12_bar__plus_00_dot_39 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 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) + (inReceptacle DishSponge_bar__minus_02_dot_40_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 Plate_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) + (inReceptacle Cup_bar__minus_03_dot_37_bar__plus_01_dot_28_bar__plus_03_dot_20 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Bowl_bar__minus_03_dot_37_bar__plus_01_dot_28_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_37_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_29_bar__plus_00_dot_95_bar__plus_02_dot_54 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_37_bar__plus_00_dot_98_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_75_bar__plus_00_dot_14_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Pot_bar__minus_01_dot_55_bar__plus_00_dot_94_bar__plus_00_dot_57 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_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_29_bar__plus_00_dot_96_bar__plus_00_dot_43 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_36_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_31_bar__plus_01_dot_21_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_42_bar__plus_01_dot_26_bar__plus_00_dot_44 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 loc_bar__minus_5_bar_11_bar_1_bar_30) + (objectAtLocation Mug_bar__minus_01_dot_12_bar__plus_00_dot_04_bar__plus_00_dot_55 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_79_bar__plus_01_dot_12_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_7_bar_4_bar_2_bar_45) + (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 SaltShaker_bar__minus_02_dot_09_bar__plus_00_dot_48_bar__plus_00_dot_65 loc_bar__minus_5_bar_4_bar_3_bar_60) + 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+ + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o LettuceType) + (receptacleType ?r SinkBasinType) + (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-Lettuce-None-SinkBasin-4/trial_T20190907_142221_972253/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-4/trial_T20190907_142221_972253/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf71e5b605a868f64643010b97c9807ce5e2a21 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-4/trial_T20190907_142221_972253/traj_data.json @@ -0,0 +1,6918 @@ +{ + "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": 3.26635885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -0.662086, + "y": 1.04780233, + "z": 3.26635885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -0.827757657, + "y": 1.12602937, + "z": 0.659750342 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -1.11659861, + "y": 0.0444409251, + "z": 0.5514505 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1014592362, + "scene_num": 4 + }, + "task_id": "trial_T20190907_142221_972253", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1DMXEJGJY02E1_3U8YCDAGXSXD7WXB5302YXO7RX2Q0Y", + "high_descs": [ + "Turn around and go to the brown table.", + "Pick up the nearest lettuce.", + "Turn around and go to the fridge.", + "Chill the lettuce in the fridge and then take it out.", + "Turn left and go to the sink.", + "Put the lettuce in the sink." + ], + "task_desc": "Put chilled lettuce in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3VE8AYVF8PEYYWC5MR2NFDQB3UXF8A", + "high_descs": [ + "Turn around and cross the room to face the brown table.", + "Pick the lettuce up from the table.", + "Turn around and stand in front of the fridge.", + "Open the fridge, put the lettuce in and shut the door and then open the door and pick the lettuce up and then shut the door.", + "Turn around and go to the sink.", + "Put the lettuce in the sink." + ], + "task_desc": "Put chilled lettuce in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3X66WABAJZZIBZ2ULUD96HICONQ3GQ", + "high_descs": [ + "Turn around, head across the room to the table on the left. ", + "Pick up the lettuce on the table near the toaster.", + "Turn around, bring the lettuce to the fridge. ", + "Chill the lettuce in the fridge. ", + "Take the chill lettuce to the the counter to the right, turn left and go to the sink, face the sink. ", + "Put the chilled lettuce in the sink. " + ], + "task_desc": "Put a chilled lettuce in the sink. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2WKZI3JQCE3Z6_39RP059MEKAN642TBQQA150L872MB7", + "high_descs": [ + "Turn around, move forward just past the fridge, turn left, move forward to alongside the fridge, turn right and move forward to the table.", + "Pick up the head of lettuce.", + "Turn around, move forward to the fridge.", + "Open the fridge, put the lettuce on the top shelf on the right, close the fridge, wait 5 seconds, open the fridge, pick up the lettuce, close the fridge.", + "Turn left, move to the counter, turn left, move to alongside the sink, turn right.", + "Put the lettuce in the sink." + ], + "task_desc": "Put a chilled head of lettuce from the table into the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3Z7VU45IP1YMSDJKOINF3VJL108Z1Z", + "high_descs": [ + "Move to the table to the left of the sink", + "Pick up lettuce from the table", + "Move to the fridge behind you", + "Chill lettuce for a moment in the fridge", + "Move to the sink to the left", + "Put lettuce in the sink" + ], + "task_desc": "Put chilled lettuce in the sink.", + "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-Lettuce-None-SinkBasin-4/trial_T20190907_142249_346119/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-4/trial_T20190907_142249_346119/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bf49ba2b27eee3079b7c193e45a9db76c8fe928e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-4/trial_T20190907_142249_346119/initial_state.pddl @@ -0,0 +1,872 @@ + +(define (problem plan_trial_T20190907_142249_346119) +(: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_20_bar__plus_01_dot_00_bar__plus_00_dot_64 - object + Apple_bar__minus_01_dot_55_bar__plus_01_dot_00_bar__plus_00_dot_22 - object + Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_13 - object + Bowl_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_14 - object + Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Bread_bar__minus_02_dot_39_bar__plus_01_dot_21_bar__plus_00_dot_47 - object + ButterKnife_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + Cup_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + DishSponge_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + DishSponge_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + DishSponge_bar__minus_02_dot_50_bar__plus_00_dot_49_bar__plus_00_dot_58 - object + Egg_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__plus_03_dot_20 - 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_27 - object + Fork_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_39 - 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_82 - object + Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_21 - object + Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_66 - object + Ladle_bar__minus_02_dot_51_bar__plus_01_dot_16_bar__plus_00_dot_19 - object + Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04 - object + Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_01_dot_92 - 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_03_dot_27 - object + Mug_bar__minus_03_dot_31_bar__plus_01_dot_56_bar__plus_02_dot_85 - object + Mug_bar__minus_03_dot_81_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_02_dot_82 - object + PepperShaker_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_51 - object + Plate_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_99 - object + Potato_bar__minus_00_dot_17_bar__plus_01_dot_08_bar__plus_02_dot_14 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + SaltShaker_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_59 - object + SaltShaker_bar__minus_01_dot_89_bar__plus_01_dot_12_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_02_dot_40_bar__plus_00_dot_49_bar__plus_00_dot_58 - object + Spatula_bar__minus_00_dot_42_bar__plus_01_dot_06_bar__plus_02_dot_37 - object + Spatula_bar__minus_00_dot_66_bar__plus_01_dot_06_bar__plus_03_dot_04 - object + Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_01_dot_92 - object + Spoon_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 - 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_54_bar__plus_01_dot_09_bar__plus_02_dot_14 - object + Tomato_bar__minus_02_dot_64_bar__plus_01_dot_17_bar__plus_00_dot_38 - object + Tomato_bar__minus_03_dot_75_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_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_5_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 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 Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_13 AppleType) + (objectType Spatula_bar__minus_00_dot_66_bar__plus_01_dot_06_bar__plus_03_dot_04 SpatulaType) + (objectType Spatula_bar__minus_00_dot_42_bar__plus_01_dot_06_bar__plus_02_dot_37 SpatulaType) + (objectType Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04 LettuceType) + (objectType 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Mug_bar__minus_03_dot_31_bar__plus_01_dot_56_bar__plus_02_dot_85) + (cleanable Potato_bar__minus_00_dot_17_bar__plus_01_dot_08_bar__plus_02_dot_14) + + (heatable Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_13) + (heatable Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_64) + (heatable Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_14) + (heatable Plate_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_99) + (heatable Mug_bar__minus_00_dot_79_bar__plus_01_dot_04_bar__plus_03_dot_27) + (heatable Cup_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_36) + (heatable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_17_bar__plus_00_dot_38) + (heatable Tomato_bar__minus_03_dot_75_bar__plus_00_dot_15_bar__plus_02_dot_04) + (heatable Bread_bar__minus_02_dot_39_bar__plus_01_dot_21_bar__plus_00_dot_47) + (heatable Apple_bar__minus_01_dot_55_bar__plus_01_dot_00_bar__plus_00_dot_22) + (heatable Egg_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__plus_03_dot_20) + (heatable Mug_bar__minus_03_dot_81_bar__plus_01_dot_12_bar__plus_00_dot_28) + (heatable Mug_bar__minus_03_dot_31_bar__plus_01_dot_56_bar__plus_02_dot_85) + (heatable Potato_bar__minus_00_dot_17_bar__plus_01_dot_08_bar__plus_02_dot_14) + (coolable Apple_bar__minus_03_dot_44_bar__plus_01_dot_63_bar__plus_03_dot_13) + (coolable Lettuce_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04) + (coolable Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_64) + (coolable Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_59) + (coolable Tomato_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_02_dot_14) + (coolable Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48) + (coolable Plate_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_99) + (coolable Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56) + (coolable 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StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48) + (inReceptacle Tomato_bar__minus_00_dot_54_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 DishSponge_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 Spoon_bar__minus_00_dot_54_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_66_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) + (inReceptacle Knife_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_02_dot_82 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_04_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_54_bar__plus_01_dot_05_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spatula_bar__minus_00_dot_42_bar__plus_01_dot_06_bar__plus_02_dot_37 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 Spatula_bar__minus_00_dot_79_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 Lettuce_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 Mug_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) + (inReceptacle SaltShaker_bar__minus_00_dot_54_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_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 Bowl_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 Potato_bar__minus_00_dot_17_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) + (inReceptacle Mug_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 PepperShaker_bar__minus_02_dot_65_bar__plus_00_dot_90_bar__plus_00_dot_51 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60) + (inReceptacle Ladle_bar__minus_02_dot_51_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 Tomato_bar__minus_02_dot_64_bar__plus_01_dot_17_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Bread_bar__minus_02_dot_39_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) + (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 SaltShaker_bar__minus_01_dot_89_bar__plus_01_dot_12_bar__plus_00_dot_66 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 Ladle_bar__minus_00_dot_72_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 Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Fork_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_39 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle DishSponge_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_58 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle Egg_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__plus_03_dot_20 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Mug_bar__minus_03_dot_31_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) + (inReceptacle Plate_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_99 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_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Tomato_bar__minus_03_dot_75_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) + (inReceptacle Apple_bar__minus_01_dot_20_bar__plus_01_dot_00_bar__plus_00_dot_64 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle ButterKnife_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 Cup_bar__minus_01_dot_47_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 Apple_bar__minus_01_dot_55_bar__plus_01_dot_00_bar__plus_00_dot_22 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation 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the fridge behind you", + "chill the lettuce in the fridge", + "move to the sink to the left of you", + "put the lettuce in the sink" + ], + "task_desc": "Put a head of chilled lettuce in the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_39KFRKBFIQC7JFGGYYJ71KNROINYO5", + "high_descs": [ + "Turn around and walk over to the brown table that is now to your right. ", + "Pick up the piece of lettuce that is on the table. ", + "Turn around and walk over to the refrigerator. ", + "Cool off the piece of lettuce in the fridge before pulling it back out. ", + "Turn to the left and walk over to the marble kitchen sink. ", + "Place the lettuce in the sink to the left of the other items." + ], + "task_desc": "Put a chilled piece of lettuce into the kitchen sink. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3BF51CHDTYR0U3Y8MDD8PJW60BRH0G", + "high_descs": [ + "Move the table behind you across from the sink.", + "Pick up the lettuce from the table.", + "Move to the fridge behind you.", + "Place the lettuce inside and chill for a moment before retrieving and closing the door.", + "Move to the sink to the left of you.", + "Place the lettuce inside the sink." + ], + "task_desc": "Put chilled lettuce from the table in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3TOK3KHVJWZO4VKFBPT7O73UKBD7OW", + "high_descs": [ + "Turn around and go to the table.", + "Pick up the lettuce from the table. ", + "Turn around and go to the refrigerator. ", + "Put the lettuce in the refrigerator and take the lettuce out of the refrigerator. ", + "Turn around and go to the sink", + "Put the lettuce in the sink. " + ], + "task_desc": "Put the chilled lettuce in the sink. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3TPWUS5F8CI2LLODTSSSLN8UOO1WCO", + "high_descs": [ + "Turn around, move forward, turn right to face the table. ", + "Pick up the lettuce on the table. ", + "Turn around, bring the lettuce to the fridge.", + "Chill the lettuce in the fridge. ", + "Bring the the chilled lettuce to the left and back to the sink. ", + "Put the lettuce in the sink." + ], + "task_desc": "Put chilled lettuce in the sink. ", + "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-Lettuce-None-SinkBasin-4/trial_T20190907_142353_380585/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-4/trial_T20190907_142353_380585/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..31ed74c33718cce9b48aece4948fa8ff54ae6c18 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-SinkBasin-4/trial_T20190907_142353_380585/initial_state.pddl @@ -0,0 +1,934 @@ + +(define (problem plan_trial_T20190907_142353_380585) +(: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_89_bar__plus_01_dot_19_bar__plus_00_dot_19 - object + Apple_bar__minus_03_dot_37_bar__plus_01_dot_63_bar__plus_02_dot_99 - object + Bowl_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_02_dot_59 - object + Bowl_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_03_dot_04 - object + Bowl_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_03_dot_06 - object + Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 - object + ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_01_dot_92 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Cup_bar__minus_01_dot_48_bar__plus_00_dot_05_bar__plus_00_dot_67 - object + Cup_bar__minus_01_dot_57_bar__plus_01_dot_15_bar__plus_00_dot_10 - object + Cup_bar__minus_03_dot_57_bar__plus_01_dot_56_bar__plus_02_dot_92 - object + DishSponge_bar__minus_02_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_61 - object + Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_34 - object + Egg_bar__minus_00_dot_66_bar__plus_01_dot_16_bar__plus_00_dot_66 - object + Egg_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__plus_02_dot_78 - 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_02_dot_14 - object + Fork_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_37 - 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_79_bar__plus_01_dot_09_bar__plus_02_dot_82 - object + Ladle_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_47 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_02_dot_59 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 - object + Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_01_dot_92 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_01_dot_12_bar__plus_00_dot_04_bar__plus_00_dot_38 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 - object + PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_48_bar__plus_00_dot_61 - object + PepperShaker_bar__minus_03_dot_78_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + Plate_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + Plate_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Plate_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_47 - object + Potato_bar__minus_03_dot_44_bar__plus_01_dot_59_bar__plus_02_dot_78 - object + Potato_bar__minus_03_dot_57_bar__plus_01_dot_32_bar__plus_02_dot_99 - object + Potato_bar__minus_03_dot_64_bar__plus_00_dot_14_bar__plus_02_dot_04 - object + Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + SaltShaker_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_55 - object + SaltShaker_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33 - object + SaltShaker_bar__minus_02_dot_18_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_94_bar__plus_01_dot_13_bar__plus_00_dot_39 - object + SoapBottle_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_44 - object + Spatula_bar__minus_02_dot_51_bar__plus_01_dot_14_bar__plus_00_dot_28 - object + Spoon_bar__minus_00_dot_77_bar__plus_01_dot_13_bar__plus_00_dot_30 - object + Spoon_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + Spoon_bar__minus_03_dot_85_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_29_bar__plus_01_dot_09_bar__plus_02_dot_14 - object + Tomato_bar__minus_02_dot_01_bar__plus_01_dot_17_bar__plus_00_dot_66 - 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_11_bar_5_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 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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 SaltShaker_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_33 SaltShakerType) + (objectType Cup_bar__minus_01_dot_57_bar__plus_01_dot_15_bar__plus_00_dot_10 CupType) + (objectType Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_34 EggType) + (objectType Bowl_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_03_dot_06 BowlType) + (objectType Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 LadleType) + (objectType SoapBottle_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_44 SoapBottleType) + (objectType Plate_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 PlateType) + (objectType 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Open the door again to take the lettuce out and shut the door.", + "Take the lettuce and turn around. Go across the room and turn right at the far counter.", + "Place the lettuce in the sink." + ], + "task_desc": "Take lettuce to the fridge, followed by the sink.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_38SKSKU7R4EDNUYEHOHCNFP93LXLI0", + "high_descs": [ + "Move to table across from the fridge to the right of the door.", + "Pick up lettuce from the tab;e.", + "Move to the fridge behind you to the left of the door.", + "Place lettuce inside and chill for a moment before removing and closing the door.", + "Move to the sink behind you and to the right of the table/", + "Put the lettuce in the sink." + ], + "task_desc": "Put chilled lettuce in the sink from the table.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3CP1TO84PWIVAKHR0YGDJAMVSW852N", + "high_descs": [ + "Move forward, then turn right to approach the table.", + "Pick up the lettuce on the table.", + "Go to the fridge behind you.", + "Chill the lettuce in the fridge.", + "Turn left, move forward, turn left, move forward, then turn right to face the sink.", + "Put the lettuce in the sink to the left of the knife." + ], + "task_desc": "Put cold lettuce in the sink.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3QL2OFSM99ZCYRFZ1R15P4V3VHQCNG", + "high_descs": [ + "Go forward, then turn to the right and go to the table. ", + "Pick up the lettuce that is on the table. ", + "Turn around and go to the fridge. ", + "Open the fridge, put the lettuce in, close the fridge, then take the lettuce out of the fridge. ", + "Turn to the left, go forward, turn to the left and go to the sink on your right. ", + "Put the lettuce in left side of the sink. " + ], + "task_desc": "Put cold lettuce in the sink. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3VP0C6EFSJDH0SLYFZ92QPETU6O6M3", + "high_descs": [ + "Turn right to go to the wooden table.", + "Take the lettuce on the table.", + "Turn around and go to the refrigerator. ", + "Place the lettuce inside the refrigerator to chill it and then take it out. ", + "Take the chilled lettuce to the kitchen sink to the left. ", + "Place the lettuce inside the sink. " + ], + "task_desc": "Place a chilled lettuce in the sink. ", + "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-LettuceSliced-None-DiningTable-27/trial_T20190909_061120_995295/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-DiningTable-27/trial_T20190909_061120_995295/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..abb99ed596755debada10445521ae42018000376 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-DiningTable-27/trial_T20190909_061120_995295/initial_state.pddl @@ -0,0 +1,1009 @@ + +(define (problem plan_trial_T20190909_061120_995295) +(: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 + 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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_28_bar__plus_00_dot_85_bar__plus_02_dot_53 - object + Apple_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_88 - object + Apple_bar__minus_00_dot_33_bar__plus_00_dot_09_bar__minus_00_dot_83 - object + Bowl_bar__plus_00_dot_78_bar__plus_00_dot_08_bar__plus_02_dot_48 - object + Bowl_bar__plus_02_dot_18_bar__plus_01_dot_52_bar__minus_00_dot_46 - object + Bowl_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_01_dot_96 - object + Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10 - object + Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 - object + ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_44 - object + ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_55 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_39 - object + Cup_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_02_dot_12 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_58 - object + Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_71 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 - object + Knife_bar__plus_00_dot_07_bar__plus_00_dot_77_bar__plus_02_dot_20 - object + Knife_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_02_dot_76 - object + Ladle_bar__plus_01_dot_94_bar__plus_00_dot_79_bar__plus_00_dot_72 - object + Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 - object + Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_38 - object + Lettuce_bar__plus_01_dot_92_bar__plus_01_dot_00_bar__plus_02_dot_06 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__plus_00_dot_06_bar__plus_00_dot_93_bar__plus_02_dot_55 - object + Mug_bar__plus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_81 - object + Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_58 - object + PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52 - object + Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_01_dot_99 - object + Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + SaltShaker_bar__minus_00_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_48 - object + 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Tomato_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_01_dot_05 - object + Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 - object + WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + WineBottle_bar__plus_02_dot_24_bar__plus_01_dot_50_bar__plus_01_dot_96 - object + Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle + DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle + Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle + Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle + Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle + loc_bar_5_bar_1_bar_1_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_30 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_5_bar_7_bar_1_bar__minus_30 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_5_bar_7_bar_0_bar__minus_30 - location + loc_bar_4_bar_3_bar_1_bar_30 - location + loc_bar_4_bar_8_bar_0_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_45 - location + loc_bar_4_bar_8_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_3_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_30 - location + loc_bar_5_bar_2_bar_1_bar__minus_15 - location + loc_bar_3_bar_8_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_15 - location + loc_bar_4_bar_8_bar_0_bar_60 - location + loc_bar_3_bar_6_bar_1_bar__minus_15 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + loc_bar_3_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_6_bar__minus_1_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType) + (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType) + (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType) + (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType) + (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (objectType Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38 PotatoType) + (objectType Cup_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_39 CupType) + (objectType Mug_bar__plus_00_dot_06_bar__plus_00_dot_93_bar__plus_02_dot_55 MugType) + (objectType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 SinkType) + (objectType Spatula_bar__minus_00_dot_07_bar__plus_00_dot_76_bar__plus_01_dot_99 SpatulaType) + (objectType Bowl_bar__plus_00_dot_78_bar__plus_00_dot_08_bar__plus_02_dot_48 BowlType) + (objectType LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 LightSwitchType) + (objectType Apple_bar__plus_01_dot_28_bar__plus_00_dot_85_bar__plus_02_dot_53 AppleType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 StoveKnobType) + (objectType PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_36 PepperShakerType) + (objectType SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38 SoapBottleType) + (objectType Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55 TomatoType) + (objectType DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_58 DishSpongeType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 StoveKnobType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 StoveKnobType) + (objectType Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 SpoonType) + (objectType Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_71 EggType) + (objectType Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 CurtainsType) + (objectType Bowl_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_01_dot_96 BowlType) + (objectType SoapBottle_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_00_dot_48 SoapBottleType) + (objectType Cup_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_02_dot_12 CupType) + (objectType SaltShaker_bar__minus_00_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_48 SaltShakerType) + (objectType Knife_bar__plus_00_dot_07_bar__plus_00_dot_77_bar__plus_02_dot_20 KnifeType) + (objectType PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 PepperShakerType) + (objectType Lettuce_bar__plus_01_dot_92_bar__plus_01_dot_00_bar__plus_02_dot_06 LettuceType) + (objectType Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 ForkType) + (objectType Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 PotType) + (objectType SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_08_bar__plus_00_dot_44 SoapBottleType) + (objectType Mug_bar__plus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_81 MugType) + (objectType ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_22 ButterKnifeType) + (objectType Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 ChairType) + (objectType Knife_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_02_dot_76 KnifeType) + (objectType Apple_bar__minus_00_dot_33_bar__plus_00_dot_09_bar__minus_00_dot_83 AppleType) + (objectType Apple_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_88 AppleType) + (objectType Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 TomatoType) + (objectType WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_22 WineBottleType) + (objectType SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 SaltShakerType) + (objectType Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_38 LettuceType) + (objectType Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10 BreadType) + (objectType 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Apple_bar__plus_01_dot_28_bar__plus_00_dot_85_bar__plus_02_dot_53) + (heatable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55) + (heatable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_71) + (heatable Cup_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_02_dot_12) + (heatable Mug_bar__plus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_81) + (heatable Apple_bar__minus_00_dot_33_bar__plus_00_dot_09_bar__minus_00_dot_83) + (heatable Apple_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_88) + (heatable Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22) + (heatable Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10) + (heatable Tomato_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_01_dot_05) + (heatable Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52) + (heatable Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_01_dot_99) + (heatable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + (coolable Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38) + (coolable Cup_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_39) + (coolable Mug_bar__plus_00_dot_06_bar__plus_00_dot_93_bar__plus_02_dot_55) + (coolable Bowl_bar__plus_00_dot_78_bar__plus_00_dot_08_bar__plus_02_dot_48) + (coolable Apple_bar__plus_01_dot_28_bar__plus_00_dot_85_bar__plus_02_dot_53) + (coolable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55) + (coolable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_71) + (coolable Bowl_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_01_dot_96) + (coolable Cup_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_02_dot_12) + (coolable Lettuce_bar__plus_01_dot_92_bar__plus_01_dot_00_bar__plus_02_dot_06) + (coolable Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50) + (coolable Mug_bar__plus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_81) + (coolable Apple_bar__minus_00_dot_33_bar__plus_00_dot_09_bar__minus_00_dot_83) + (coolable Apple_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_88) + (coolable Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22) + (coolable WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_22) + (coolable Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_38) + (coolable Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10) + (coolable WineBottle_bar__plus_02_dot_24_bar__plus_01_dot_50_bar__plus_01_dot_96) + (coolable Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50) + (coolable Tomato_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_01_dot_05) + (coolable Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52) + (coolable Bowl_bar__plus_02_dot_18_bar__plus_01_dot_52_bar__minus_00_dot_46) + (coolable Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_01_dot_99) + (coolable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + + + + + + (sliceable Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38) + (sliceable Apple_bar__plus_01_dot_28_bar__plus_00_dot_85_bar__plus_02_dot_53) + (sliceable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55) + (sliceable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_71) + (sliceable Lettuce_bar__plus_01_dot_92_bar__plus_01_dot_00_bar__plus_02_dot_06) + (sliceable Apple_bar__minus_00_dot_33_bar__plus_00_dot_09_bar__minus_00_dot_83) + (sliceable Apple_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_88) + (sliceable Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22) + (sliceable Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_38) + (sliceable Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10) + (sliceable 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Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Spatula_bar__minus_00_dot_07_bar__plus_00_dot_76_bar__plus_01_dot_99 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Lettuce_bar__plus_01_dot_92_bar__plus_01_dot_00_bar__plus_02_dot_06 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Mug_bar__plus_00_dot_06_bar__plus_00_dot_93_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Knife_bar__plus_00_dot_17_bar__plus_00_dot_96_bar__plus_02_dot_76 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle SaltShaker_bar__minus_00_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_48 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + 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PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_58 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_44 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle Mug_bar__plus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Tomato_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Apple_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Bowl_bar__plus_02_dot_18_bar__plus_01_dot_52_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Apple_bar__minus_00_dot_33_bar__plus_00_dot_09_bar__minus_00_dot_83 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80) + (inReceptacle Apple_bar__plus_01_dot_28_bar__plus_00_dot_85_bar__plus_02_dot_53 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_58 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle Cup_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_02_dot_12 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + (inReceptacle Bowl_bar__minus_00_dot_29_bar__plus_01_dot_03_bar__plus_01_dot_96 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation 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the refrigerator ", + " wait 3 seconds in front of the refrigerator", + " take the piece of lettuce out of the refrigerator ", + "turn and walk to the table ", + "lettuce on the table in between the bottle and the potato that are on the table" + ], + "task_desc": " put the piece of lettuce in between the bottle and the potatoes that are on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3PPTZCWALTBIU6PZ552B5IBV3A8ZQV", + "high_descs": [ + "Turn around and cross the room to face the table.", + "Pick up the knife on the table.", + "Look down to face the lettuce on the table.", + "Cut the lettuce on the table into slices.", + "Step to the right to face the table.", + "Place the knife on the table.", + "Step to the left to face the lettuce on the white table.", + "Pick up a lettuce slice on the table.", + "Turn around and step forward to face the fridge.", + "Cool the lettuce in the fridge and remove it.", + "Turn around and cross the room to face the white table.", + "Place the lettuce slice on the table." + ], + "task_desc": "To cool a lettuce slice and place it on the table.", + "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-LettuceSliced-None-DiningTable-27/trial_T20190909_061209_506966/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-DiningTable-27/trial_T20190909_061209_506966/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a20ce17183692c952ca10d09be12991fa4a9b6de --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-DiningTable-27/trial_T20190909_061209_506966/initial_state.pddl @@ -0,0 +1,1020 @@ + +(define (problem plan_trial_T20190909_061209_506966) +(: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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location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_5_bar_7_bar_1_bar__minus_30 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_5_bar_7_bar_0_bar__minus_30 - location + loc_bar_4_bar_3_bar_1_bar_30 - location + loc_bar_4_bar_8_bar_0_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_45 - location + loc_bar_4_bar_8_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_3_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_30 - location + loc_bar_5_bar_2_bar_1_bar__minus_15 - location + loc_bar_3_bar_8_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_15 - location + loc_bar_4_bar_8_bar_0_bar_60 - location + loc_bar_3_bar_6_bar_1_bar__minus_15 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + loc_bar_3_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType) + (receptacleType 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(receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType) + (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType) + (receptacleType 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Mug_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39) + (heatable Tomato_bar__plus_02_dot_23_bar__plus_00_dot_98_bar__plus_00_dot_81) + (heatable Cup_bar__plus_02_dot_16_bar__plus_00_dot_86_bar__minus_00_dot_01) + (heatable Tomato_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01) + (heatable Cup_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_84) + (heatable Egg_bar__minus_00_dot_35_bar__plus_00_dot_98_bar__plus_02_dot_43) + (heatable Plate_bar__plus_00_dot_64_bar__plus_00_dot_09_bar__plus_02_dot_52) + (heatable Potato_bar__minus_00_dot_29_bar__plus_01_dot_08_bar__plus_01_dot_91) + (heatable Cup_bar__plus_00_dot_85_bar__plus_00_dot_08_bar__plus_02_dot_60) + (heatable Tomato_bar__plus_02_dot_10_bar__plus_00_dot_38_bar__minus_00_dot_46) + (coolable Potato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80) + (coolable Apple_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_01) + (coolable Lettuce_bar__minus_00_dot_40_bar__plus_01_dot_00_bar__plus_02_dot_76) + (coolable Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_55) + (coolable Mug_bar__plus_02_dot_21_bar__plus_01_dot_94_bar__plus_01_dot_47) + (coolable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_88) + (coolable Bread_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_62) + (coolable Bowl_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_02_dot_16) + (coolable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_51) + (coolable Mug_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39) + (coolable Lettuce_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_38) + (coolable Tomato_bar__plus_02_dot_23_bar__plus_00_dot_98_bar__plus_00_dot_81) + (coolable Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50) + (coolable Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37) + (coolable 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Potato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80) + (sliceable Apple_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_01) + (sliceable Lettuce_bar__minus_00_dot_40_bar__plus_01_dot_00_bar__plus_02_dot_76) + (sliceable Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_88) + (sliceable Bread_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_62) + (sliceable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_51) + (sliceable Lettuce_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_38) + (sliceable Tomato_bar__plus_02_dot_23_bar__plus_00_dot_98_bar__plus_00_dot_81) + (sliceable Tomato_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01) + (sliceable Egg_bar__minus_00_dot_35_bar__plus_00_dot_98_bar__plus_02_dot_43) + (sliceable Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22) + (sliceable Potato_bar__minus_00_dot_29_bar__plus_01_dot_08_bar__plus_01_dot_91) + (sliceable Tomato_bar__plus_02_dot_10_bar__plus_00_dot_38_bar__minus_00_dot_46) + + (inReceptacle SaltShaker_bar_00_dot_00_bar__plus_00_dot_08_bar__plus_02_dot_06 Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77) + (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50) + (inReceptacle Ladle_bar__plus_01_dot_89_bar__plus_00_dot_13_bar__plus_01_dot_92 Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35) + (inReceptacle Bread_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_62 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Fork_bar__minus_00_dot_04_bar__plus_00_dot_94_bar__plus_02_dot_37 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Bowl_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_02_dot_16 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + 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CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle Tomato_bar__plus_02_dot_23_bar__plus_00_dot_98_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_51 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Knife_bar__plus_00_dot_03_bar__plus_00_dot_82_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SaltShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Mug_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Egg_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Ladle_bar__plus_01_dot_85_bar__plus_00_dot_79_bar__plus_02_dot_20 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle DishSponge_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_02_dot_13 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Apple_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_01 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Cup_bar__plus_02_dot_16_bar__plus_00_dot_86_bar__minus_00_dot_01 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Tomato_bar__plus_02_dot_10_bar__plus_00_dot_38_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Tomato_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Potato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80) + 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the lettuce slice from the fridge", + "Turn right, go forward, turn right at the table", + "Put the lettuce slice on the table" + ], + "task_desc": "Cool a slice of lettuce", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3UNH76FOCVWR41H2HQTBA2IONGHMYG", + "high_descs": [ + "Turn right and face the table on your left.", + "Take the knife off of the table in front of you.", + "Turn left and face the table on your right.", + "Cut the lettuce on the table in front of you.", + "Turn right and face the table on your left.", + "Place the knife on the table in front of you.", + "Turn left then face the lettuce on the table on your right.", + "Take a tomato slice off of the table in front of you.", + "Turn around and face the fridge in front of you.", + "Place the lettuce slice in the fridge in front of you and take it out.", + "Turn around and face the table in front of you.", + "Place the lettuce slice on the table in front of you." + ], + "task_desc": "Place a cold lettuce slice on the table.", + "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-LettuceSliced-None-DiningTable-27/trial_T20190909_061302_355111/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-DiningTable-27/trial_T20190909_061302_355111/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..31cd6852f7c358927dbae9a56dd5e1dfbe499460 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-DiningTable-27/trial_T20190909_061302_355111/initial_state.pddl @@ -0,0 +1,1021 @@ + +(define (problem plan_trial_T20190909_061302_355111) +(: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_84_bar__plus_00_dot_99_bar__plus_00_dot_51 - object + Apple_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01 - object + Apple_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_01_dot_39 - object + Bowl_bar__minus_00_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_20 - object + Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 - object + ButterKnife_bar__plus_02_dot_23_bar__plus_00_dot_94_bar__plus_01_dot_96 - object + ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_78_bar__plus_00_dot_71 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__plus_02_dot_13_bar__plus_01_dot_95_bar__plus_01_dot_52 - object + Cup_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_01_dot_89_bar__plus_00_dot_08_bar__plus_02_dot_20 - object + DishSponge_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_00_dot_39 - object + Egg_bar__plus_02_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_55 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__plus_02_dot_01_bar__plus_00_dot_75_bar__plus_00_dot_45 - object + Fork_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_00_dot_55 - object + Knife_bar__plus_01_dot_98_bar__plus_00_dot_77_bar__plus_00_dot_72 - object + Knife_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_02_dot_20 - object + Ladle_bar__plus_01_dot_99_bar__plus_00_dot_79_bar__plus_01_dot_92 - object + Ladle_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_38 - object + Lettuce_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_01_dot_05 - object + Lettuce_bar__minus_00_dot_35_bar__plus_00_dot_85_bar__plus_01_dot_22 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 - object + Mug_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_01 - object + Pan_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + PepperShaker_bar__plus_02_dot_07_bar__plus_00_dot_93_bar__plus_02_dot_06 - object + PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_78_bar__plus_00_dot_71 - object + Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52 - object + Plate_bar__plus_02_dot_21_bar__plus_01_dot_51_bar__plus_02_dot_43 - object + Potato_bar__plus_02_dot_13_bar__plus_00_dot_38_bar__minus_00_dot_19 - object + Potato_bar__plus_02_dot_18_bar__plus_01_dot_56_bar__minus_00_dot_46 - object + Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_26 - object + Pot_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_52 - object + Pot_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_28 - object + SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_93_bar__plus_02_dot_43 - object + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object + SoapBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Spatula_bar__plus_01_dot_88_bar__plus_00_dot_76_bar__plus_01_dot_99 - object + Spoon_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_70 - object + Spoon_bar__plus_01_dot_82_bar__plus_00_dot_75_bar__plus_01_dot_99 - object + Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_02_dot_45 - object + WineBottle_bar__plus_02_dot_00_bar__plus_00_dot_08_bar__plus_01_dot_99 - object + WineBottle_bar__minus_00_dot_26_bar__plus_00_dot_04_bar__minus_00_dot_77 - object + Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle + DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle + Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle + Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle + Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle + loc_bar_5_bar_1_bar_1_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_30 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_5_bar_7_bar_1_bar__minus_30 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_5_bar_7_bar_0_bar__minus_30 - location + loc_bar_4_bar_3_bar_1_bar_30 - location + loc_bar_4_bar_8_bar_0_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_45 - location + loc_bar_4_bar_8_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_3_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_30 - location + loc_bar_5_bar_2_bar_1_bar__minus_15 - location + loc_bar_3_bar_8_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_15 - location + loc_bar_4_bar_8_bar_0_bar_60 - location + loc_bar_3_bar_6_bar_1_bar__minus_15 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + loc_bar_3_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType) + (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType) + (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType) + (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType) + (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (objectType Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55 SpoonType) + (objectType Lettuce_bar__minus_00_dot_35_bar__plus_00_dot_85_bar__plus_01_dot_22 LettuceType) + (objectType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 SinkType) + (objectType Cup_bar__plus_02_dot_13_bar__plus_01_dot_95_bar__plus_01_dot_52 CupType) + (objectType LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 LightSwitchType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 StoveKnobType) + (objectType Mug_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_88 MugType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 StoveKnobType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 StoveKnobType) + (objectType 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Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + + (atLocation agent1 loc_bar_5_bar__minus_1_bar_1_bar_30) + + (cleanable Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55) + (cleanable Lettuce_bar__minus_00_dot_35_bar__plus_00_dot_85_bar__plus_01_dot_22) + (cleanable Cup_bar__plus_02_dot_13_bar__plus_01_dot_95_bar__plus_01_dot_52) + (cleanable Mug_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_88) + (cleanable Pan_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50) + (cleanable Cup_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22) + (cleanable Plate_bar__plus_02_dot_21_bar__plus_01_dot_51_bar__plus_02_dot_43) + (cleanable Spoon_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_70) + (cleanable Knife_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_02_dot_20) + (cleanable Potato_bar__plus_02_dot_18_bar__plus_01_dot_56_bar__minus_00_dot_46) + (cleanable Lettuce_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_01_dot_05) + (cleanable Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_26) + (cleanable Ladle_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_38) + (cleanable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_51) + (cleanable Knife_bar__plus_01_dot_98_bar__plus_00_dot_77_bar__plus_00_dot_72) + (cleanable Potato_bar__plus_02_dot_13_bar__plus_00_dot_38_bar__minus_00_dot_19) + (cleanable Fork_bar__plus_02_dot_01_bar__plus_00_dot_75_bar__plus_00_dot_45) + (cleanable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_71) + (cleanable Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46) + (cleanable Apple_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_01_dot_39) + (cleanable Tomato_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_02_dot_45) + (cleanable Ladle_bar__plus_01_dot_99_bar__plus_00_dot_79_bar__plus_01_dot_92) + (cleanable Pot_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_52) + (cleanable Spatula_bar__plus_01_dot_88_bar__plus_00_dot_76_bar__plus_01_dot_99) + (cleanable DishSponge_bar__plus_01_dot_89_bar__plus_00_dot_08_bar__plus_02_dot_20) + (cleanable Spoon_bar__plus_01_dot_82_bar__plus_00_dot_75_bar__plus_01_dot_99) + (cleanable ButterKnife_bar__plus_02_dot_23_bar__plus_00_dot_94_bar__plus_01_dot_96) + (cleanable Mug_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_01) + (cleanable Bowl_bar__minus_00_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_20) + (cleanable ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_78_bar__plus_00_dot_71) + (cleanable Egg_bar__plus_02_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_55) + (cleanable Apple_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01) + (cleanable DishSponge_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_00_dot_39) + (cleanable Fork_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_00_dot_55) + (cleanable Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52) + (cleanable ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88) + (cleanable Pot_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_28) + + (heatable Cup_bar__plus_02_dot_13_bar__plus_01_dot_95_bar__plus_01_dot_52) + (heatable Mug_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_88) + (heatable Cup_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22) + (heatable Plate_bar__plus_02_dot_21_bar__plus_01_dot_51_bar__plus_02_dot_43) + (heatable Potato_bar__plus_02_dot_18_bar__plus_01_dot_56_bar__minus_00_dot_46) + (heatable Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_26) + (heatable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_51) + (heatable Potato_bar__plus_02_dot_13_bar__plus_00_dot_38_bar__minus_00_dot_19) + (heatable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_71) + (heatable Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46) + (heatable Apple_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_01_dot_39) + (heatable Tomato_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_02_dot_45) + (heatable Mug_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_01) + (heatable Egg_bar__plus_02_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_55) + (heatable Apple_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01) + (heatable Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52) + (heatable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + (coolable Lettuce_bar__minus_00_dot_35_bar__plus_00_dot_85_bar__plus_01_dot_22) + (coolable Cup_bar__plus_02_dot_13_bar__plus_01_dot_95_bar__plus_01_dot_52) + (coolable Mug_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_88) + (coolable Pan_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50) + (coolable Cup_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22) + (coolable Plate_bar__plus_02_dot_21_bar__plus_01_dot_51_bar__plus_02_dot_43) + (coolable Potato_bar__plus_02_dot_18_bar__plus_01_dot_56_bar__minus_00_dot_46) + (coolable Lettuce_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_01_dot_05) + (coolable Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_26) + (coolable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_51) + (coolable Potato_bar__plus_02_dot_13_bar__plus_00_dot_38_bar__minus_00_dot_19) + (coolable WineBottle_bar__minus_00_dot_26_bar__plus_00_dot_04_bar__minus_00_dot_77) + (coolable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_71) + (coolable Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46) + (coolable Apple_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_01_dot_39) + (coolable Tomato_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_02_dot_45) + (coolable Pot_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_52) + (coolable Mug_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_01) + (coolable Bowl_bar__minus_00_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_20) + (coolable Egg_bar__plus_02_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_55) + (coolable WineBottle_bar__plus_02_dot_00_bar__plus_00_dot_08_bar__plus_01_dot_99) + (coolable Apple_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01) + (coolable Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52) + (coolable Pot_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_28) + (coolable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + + + + + + (sliceable Lettuce_bar__minus_00_dot_35_bar__plus_00_dot_85_bar__plus_01_dot_22) + (sliceable Potato_bar__plus_02_dot_18_bar__plus_01_dot_56_bar__minus_00_dot_46) + (sliceable Lettuce_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_01_dot_05) + (sliceable Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_26) + (sliceable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_51) + (sliceable Potato_bar__plus_02_dot_13_bar__plus_00_dot_38_bar__minus_00_dot_19) + (sliceable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_71) + (sliceable Apple_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_01_dot_39) + (sliceable Tomato_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_02_dot_45) + (sliceable Egg_bar__plus_02_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_55) + (sliceable Apple_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01) + (sliceable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + + (inReceptacle Plate_bar__plus_02_dot_21_bar__plus_01_dot_51_bar__plus_02_dot_43 Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62) + (inReceptacle Bowl_bar__minus_00_dot_04_bar__plus_00_dot_08_bar__plus_02_dot_20 Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77) + (inReceptacle WineBottle_bar__plus_02_dot_00_bar__plus_00_dot_08_bar__plus_01_dot_99 Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35) + (inReceptacle DishSponge_bar__plus_01_dot_89_bar__plus_00_dot_08_bar__plus_02_dot_20 Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35) + (inReceptacle DishSponge_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_00_dot_39 Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_02_dot_20 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_26 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle PepperShaker_bar__plus_02_dot_07_bar__plus_00_dot_93_bar__plus_02_dot_06 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle ButterKnife_bar__plus_02_dot_23_bar__plus_00_dot_94_bar__plus_01_dot_96 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Tomato_bar__minus_00_dot_20_bar__plus_00_dot_98_bar__plus_02_dot_45 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Pan_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_93_bar__plus_02_dot_43 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Pan_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50) + (inReceptacle Cup_bar__plus_02_dot_13_bar__plus_01_dot_95_bar__plus_01_dot_52 Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77) + (inReceptacle Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52 Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36) + (inReceptacle Pot_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_52 Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36) + (inReceptacle Knife_bar__plus_01_dot_98_bar__plus_00_dot_77_bar__plus_00_dot_72 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58) + (inReceptacle Fork_bar__plus_02_dot_01_bar__plus_00_dot_75_bar__plus_00_dot_45 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58) + (inReceptacle SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_51 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle PepperShaker_bar__minus_00_dot_42_bar__plus_00_dot_78_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__minus_00_dot_04_bar__plus_00_dot_85_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_78_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__minus_00_dot_35_bar__plus_00_dot_85_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Ladle_bar__minus_00_dot_04_bar__plus_00_dot_84_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Apple_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Fork_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SoapBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Mug_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Cup_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Spoon_bar__plus_01_dot_82_bar__plus_00_dot_75_bar__plus_01_dot_99 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Ladle_bar__plus_01_dot_99_bar__plus_00_dot_79_bar__plus_01_dot_92 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Spatula_bar__plus_01_dot_88_bar__plus_00_dot_76_bar__plus_01_dot_99 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Potato_bar__plus_02_dot_18_bar__plus_01_dot_56_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Egg_bar__plus_02_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Apple_bar__plus_02_dot_25_bar__plus_00_dot_65_bar__minus_00_dot_01 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Potato_bar__plus_02_dot_13_bar__plus_00_dot_38_bar__minus_00_dot_19 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Pot_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_28 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle WineBottle_bar__minus_00_dot_26_bar__plus_00_dot_04_bar__minus_00_dot_77 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80) + (inReceptacle Spoon_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_70 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_01 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45) + (receptacleAtLocation 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loc_bar_5_bar_7_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation 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"y": 0.07808387, + "z": 2.19746161 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1047927798, + "scene_num": 27 + }, + "task_id": "trial_T20190909_061302_355111", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3OYZK65C2G39N_30IQTZXKANX51IKLNPKBTR42I6V0XK", + "high_descs": [ + " turn and walk to the table", + "pick up the knife that is on the table", + "use the knife to cut the lettuce ", + " throw the knife on the table", + "pick up a piece of lettuce ", + " turn in walk to the refrigerator ", + "put the lettuce in the refrigerator ", + "wait 3 seconds in front of the refrigerator", + " take the slice of lettuce out of the refrigerator", + "walk back to the table", + "put the slice of lettuce on the table on the left side of the fork" + ], + "task_desc": " put a chilled slice of lettuce to the left of the fork on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6SR4BU227GUH_386PBUZZXIOH3U4IVERT02OBA7RLJS", + "high_descs": [ + "go to the oven, then make a left to face the white table", + "pick up the knife behind the mug on the table", + "slice the head of lettuce on the table to the left of the wine glass", + "face the table again to see the head of lettuce", + "place the knife down on the table on top of the slices of lettuce", + "face the table to see the lettuce slices", + "pick up a slice of lettuce on the table", + "turn around to face the refrigerator on the opposite side of the room", + "open the door and place the slice of lettuce in the side door, then close the door for a few seconds before opening it up again to remove the slice of lettuce", + "return to the white table", + "place the lettuce slice behind the fork on the left side of the table" + ], + "task_desc": "slice a piece of lettuce and cool it down in the refrigerator", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3N1FSUEFL8R820X5FQ61BNRNJ0U4DX", + "high_descs": [ + "Turn left, go forward, turn left to the white table, go to the table.", + "Take the knife in front of the bread from the table.", + "Cut the lettuce to the left of the glass on the table.", + "Go a step to the left, face the table.", + "Put the knife on the cut lettuce on the table.", + "Go a step to the right, face the table.", + "Take a slice of lettuce from the table.", + "Turn left, go forward to the wall, turn left, go forward to the fridge.", + "Chill the slice of lettuce in the fridge. Take the lettuce from the fridge.", + "Turn left, go forward, turn left to the white table, go to the table.", + "Put the lettuce behind the fork on the table." + ], + "task_desc": "Put a cold slice of lettuce on a table.", + "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-Mug-None-CoffeeMachine-1/trial_T20190907_100811_087784/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100811_087784/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f84408c53338a77bf7e7e316be7c18a9307c9804 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100811_087784/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 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_100811_087784)\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_17_bar__plus_01_dot_84_bar__minus_02_dot_48 - object\n Apple_bar__minus_01_dot_91_bar__plus_00_dot_10_bar__plus_02_dot_12 - object\n Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26 - 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_50 - object\n Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_76 - object\n ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_50 - 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_36_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n CreditCard_bar__minus_01_dot_69_bar__plus_00_dot_48_bar__minus_00_dot_05 - object\n Cup_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_50 - object\n Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59 - object\n DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_10 - object\n Egg_bar__minus_00_dot_17_bar__plus_01_dot_83_bar__minus_02_dot_61 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object\n Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_41 - object\n Glassbottle_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_01_dot_25 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_35 - object\n Knife_bar__plus_00_dot_45_bar__plus_00_dot_94_bar__minus_02_dot_41 - object\n Knife_bar__plus_00_dot_84_bar__plus_00_dot_94_bar__minus_02_dot_25 - object\n Knife_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_02_dot_37 - object\n Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__plus_00_dot_25 - object\n Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__minus_00_dot_25 - object\n Lettuce_bar__minus_01_dot_69_bar__plus_00_dot_99_bar__minus_00_dot_51 - 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_99_bar__plus_00_dot_88_bar__minus_02_dot_59 - object\n Mug_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25 - object\n Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_41 - object\n Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object\n Pan_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__plus_01_dot_26 - object\n PaperTowelRoll_bar__minus_01_dot_99_bar__plus_00_dot_15_bar__plus_02_dot_03 - object\n PepperShaker_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_71 - object\n PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_71 - object\n PepperShaker_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_26 - object\n Plate_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_44 - object\n Plate_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Plate_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_16 - object\n Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__minus_00_dot_51 - object\n Potato_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_02_dot_70 - 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_20_bar__plus_01_dot_12_bar_00_dot_00 - object\n SaltShaker_bar__plus_00_dot_84_bar__plus_00_dot_14_bar__minus_02_dot_48 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__minus_01_dot_13_bar__plus_01_dot_66_bar__minus_02_dot_60 - object\n SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_20 - object\n SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_34 - object\n Spatula_bar__minus_00_dot_20_bar__plus_01_dot_13_bar__plus_00_dot_25 - object\n Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_11 - object\n Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Statue_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51 - object\n Statue_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_46 - 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 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location\n loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location\n loc_bar_2_bar__minus_7_bar_2_bar_60 - 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_2_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 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Glassbottle_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_84_bar__plus_00_dot_94_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_02_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\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_74_bar__plus_00_dot_48_bar__minus_00_dot_20 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__plus_01_dot_26 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_17 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_17_bar__plus_01_dot_83_bar__minus_02_dot_61 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation CreditCard_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Statue_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51 loc_bar_5_bar__minus_6_bar_2_bar_45)\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__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_04 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\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_11 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_99_bar__plus_00_dot_15_bar__plus_02_dot_03 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_04 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bowl_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 SaltShaker_bar__plus_00_dot_84_bar__plus_00_dot_14_bar__minus_02_dot_48 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_69_bar__plus_00_dot_99_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_10 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_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_99_bar__plus_00_dot_88_bar__minus_02_dot_59 loc_bar_7_bar__minus_5_bar_2_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 MugType)\n (receptacleType ?r CoffeeMachineType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take mug 2 from countertop 2", "go to fridge 1", "cool mug 2 with fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100811_087784/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100811_087784/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e7a8f9fc6ceef3282170aae60c32e3b718090df2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100811_087784/initial_state.pddl @@ -0,0 +1,1259 @@ + +(define (problem plan_trial_T20190907_100811_087784) +(: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_17_bar__plus_01_dot_84_bar__minus_02_dot_48 - object + Apple_bar__minus_01_dot_91_bar__plus_00_dot_10_bar__plus_02_dot_12 - object + Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26 - 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_50 - object + Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_76 - object + ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + ButterKnife_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_50 - 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_36_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + CreditCard_bar__minus_01_dot_69_bar__plus_00_dot_48_bar__minus_00_dot_05 - object + Cup_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_50 - object + Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59 - object + DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_10 - object + Egg_bar__minus_00_dot_17_bar__plus_01_dot_83_bar__minus_02_dot_61 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object + Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 - object + Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_41 - object + Glassbottle_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_01_dot_25 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_35 - object + Knife_bar__plus_00_dot_45_bar__plus_00_dot_94_bar__minus_02_dot_41 - object + Knife_bar__plus_00_dot_84_bar__plus_00_dot_94_bar__minus_02_dot_25 - object + Knife_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_02_dot_37 - object + Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__plus_00_dot_25 - object + Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__minus_00_dot_25 - object + Lettuce_bar__minus_01_dot_69_bar__plus_00_dot_99_bar__minus_00_dot_51 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_59 - object + Mug_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_41 - object + Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object + Pan_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__plus_01_dot_26 - object + PaperTowelRoll_bar__minus_01_dot_99_bar__plus_00_dot_15_bar__plus_02_dot_03 - object + PepperShaker_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_71 - object + PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_71 - object + PepperShaker_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_26 - object + Plate_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_44 - object + Plate_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Plate_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_16 - object + Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__minus_00_dot_51 - object + Potato_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_02_dot_70 - object + Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Pot_bar__minus_00_dot_20_bar__plus_01_dot_12_bar_00_dot_00 - object + SaltShaker_bar__plus_00_dot_84_bar__plus_00_dot_14_bar__minus_02_dot_48 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__minus_01_dot_13_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_20 - object + SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_34 - object + Spatula_bar__minus_00_dot_20_bar__plus_01_dot_13_bar__plus_00_dot_25 - object + Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_11 - object + Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Spoon_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Statue_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51 - object + Statue_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_46 - 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_94_bar__plus_00_dot_09_bar__plus_01_dot_93 - object + Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_17 - object + Vase_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_60 - object + Vase_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_04 - object + Vase_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_00_dot_51 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_04 - 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 + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 - receptacle + Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 - receptacle + GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 - receptacle + Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 - receptacle + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle + StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle + StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle + StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle + Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 - receptacle + loc_bar_1_bar__minus_7_bar_1_bar_45 - location + loc_bar__minus_5_bar_2_bar_3_bar__minus_30 - location + loc_bar_7_bar__minus_5_bar_2_bar_30 - location + loc_bar_7_bar__minus_7_bar_3_bar_45 - location + 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_2_bar__minus_7_bar_2_bar_60 - 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_2_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) + (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 GarbageCanType) + 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StoveBurnerType) + (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 DrawerType) + (receptacleType Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 FridgeType) + (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 StoveBurnerType) + (objectType Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 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Plate_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64) + (heatable Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59) + (heatable Mug_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25) + (heatable Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26) + (heatable Egg_bar__minus_00_dot_17_bar__plus_01_dot_83_bar__minus_02_dot_61) + (heatable Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_76) + (heatable Mug_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_59) + (heatable Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__minus_00_dot_51) + (heatable Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17) + (heatable Apple_bar__minus_01_dot_91_bar__plus_00_dot_10_bar__plus_02_dot_12) + (heatable Plate_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_16) + (heatable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_01_dot_93) + (heatable Plate_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_44) + (heatable Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_17) + (coolable Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_41) + (coolable Pan_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__plus_01_dot_26) + (coolable Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__minus_00_dot_25) + (coolable Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48) + (coolable Potato_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_02_dot_70) + (coolable Cup_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_50) + (coolable Plate_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64) + (coolable Cup_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59) + (coolable Mug_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_25) + (coolable Lettuce_bar__minus_01_dot_69_bar__plus_00_dot_99_bar__minus_00_dot_51) + (coolable Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26) + (coolable Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__plus_00_dot_25) + (coolable Egg_bar__minus_00_dot_17_bar__plus_01_dot_83_bar__minus_02_dot_61) + (coolable Pot_bar__minus_00_dot_20_bar__plus_01_dot_12_bar_00_dot_00) + (coolable Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_76) + (coolable Mug_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_59) + (coolable Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__minus_00_dot_51) + (coolable Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17) + (coolable WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_04) + (coolable Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51) + (coolable Apple_bar__minus_01_dot_91_bar__plus_00_dot_10_bar__plus_02_dot_12) + (coolable Plate_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_16) + (coolable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_01_dot_93) + (coolable Plate_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_44) + (coolable Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58) + (coolable Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_17) + + + + + + (sliceable Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__minus_00_dot_25) + (sliceable Apple_bar__minus_00_dot_17_bar__plus_01_dot_84_bar__minus_02_dot_48) + (sliceable Potato_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_02_dot_70) + (sliceable Lettuce_bar__minus_01_dot_69_bar__plus_00_dot_99_bar__minus_00_dot_51) + (sliceable Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26) + (sliceable Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__plus_00_dot_25) + (sliceable Egg_bar__minus_00_dot_17_bar__plus_01_dot_83_bar__minus_02_dot_61) + (sliceable Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_bar__minus_00_dot_76) + (sliceable Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__minus_00_dot_51) + (sliceable Apple_bar__minus_01_dot_91_bar__plus_00_dot_10_bar__plus_02_dot_12) + (sliceable Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_01_dot_93) + (sliceable Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_17) + + (inReceptacle Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_11 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20) + (inReceptacle Mug_bar__minus_00_dot_20_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 Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_50 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Lettuce_bar__plus_00_dot_22_bar__plus_01_dot_19_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Fork_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 Spoon_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__plus_00_dot_22_bar__plus_01_dot_19_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle CreditCard_bar__plus_00_dot_36_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 Pot_bar__minus_00_dot_20_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 Bread_bar__minus_00_dot_06_bar__plus_01_dot_18_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 Spatula_bar__minus_00_dot_20_bar__plus_01_dot_13_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bowl_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 Plate_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_16 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97) + (inReceptacle ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle PepperShaker_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) + (inReceptacle Knife_bar__plus_00_dot_45_bar__plus_00_dot_94_bar__minus_02_dot_41 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Knife_bar__plus_00_dot_84_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) + (inReceptacle PepperShaker_bar__plus_00_dot_84_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) + (inReceptacle Spoon_bar__plus_00_dot_58_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) + (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) + (inReceptacle Vase_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_60 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle SoapBottle_bar__minus_01_dot_13_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle SoapBottle_bar__minus_01_dot_74_bar__plus_00_dot_48_bar__minus_00_dot_34 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20) + (inReceptacle SoapBottle_bar__minus_01_dot_74_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) + (inReceptacle CreditCard_bar__minus_01_dot_69_bar__plus_00_dot_48_bar__minus_00_dot_05 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20) + (inReceptacle Kettle_bar__minus_01_dot_30_bar__plus_00_dot_14_bar__minus_02_dot_35 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle SaltShaker_bar__plus_00_dot_84_bar__plus_00_dot_14_bar__minus_02_dot_48 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20) + (inReceptacle DishSponge_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_10 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle Lettuce_bar__minus_01_dot_69_bar__plus_00_dot_99_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Mug_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_41 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle ButterKnife_bar__minus_00_dot_85_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 Vase_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Vase_bar__minus_01_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_04 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Knife_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle PepperShaker_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Potato_bar__minus_01_dot_86_bar__plus_00_dot_94_bar__minus_02_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Plate_bar__minus_01_dot_29_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 WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_04 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Egg_bar__minus_00_dot_17_bar__plus_01_dot_83_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Apple_bar__minus_00_dot_17_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) + (inReceptacle Mug_bar__plus_01_dot_99_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) + (inReceptacle Statue_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Statue_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_46 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Tomato_bar__minus_01_dot_94_bar__plus_00_dot_09_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle Apple_bar__minus_01_dot_91_bar__plus_00_dot_10_bar__plus_02_dot_12 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_99_bar__plus_00_dot_15_bar__plus_02_dot_03 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Glassbottle_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_17 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Pan_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17) + (inReceptacle Fork_bar__minus_01_dot_91_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) + (inReceptacle Glassbottle_bar__minus_01_dot_96_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) + (inReceptacle ButterKnife_bar__minus_01_dot_85_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) + (inReceptacle Cup_bar__minus_01_dot_80_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) + (inReceptacle Cup_bar__minus_02_dot_02_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) + + + 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left and take a step then turn left and walk to the fridge then turn left and walk to the coffee maker and turn right to face it.", + "Pick up the coffee mug.", + "Turn right and walk to the fridge and stand and face it.", + "Cool the mug off in the fridge and get it back out and close the door.", + "Go back to the coffee maker.", + "Put the mug back where you got it from." + ], + "task_desc": "Put a cold coffee mug under the coffee makers spout.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3483FV8BEH0RTOH55HQIBG0VOPT266", + "high_descs": [ + "Turn left, walk to the wall, hang a left towards the white fridge, turn left, cross the room and turn right to face the blue coffee maker on top of the counter.", + "Pick up the white mug sitting on the silver platform of the blue coffee maker on the counter top.", + "Turn right, head to the white fridge and turn left to face it.", + "Put the white mug inside the fridge on the top shelf in the middle, let it chill for seven seconds, remove the mug and close the door.", + "Turn left, cross the room and turn right before the white dishwasher to face the blue coffee maker on the counter top.", + "Put the chilled mug on the silver platform of the coffee maker on the counter top." + ], + "task_desc": "Place a chilled mug on the coffee maker.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3R0T90IZ1VT6OZYDENOAZKM6UU7GCT", + "high_descs": [ + "Walk across the room to the fridge, take a left, and go to the coffee maker.", + "Pick up the cup in the coffee maker.", + "Take the cup to the fridge.", + "Cool off the coffee cup in the fridge.", + "Take the chilled cup back to the coffee maker.", + "Put the chilled cup in the coffee maker." + ], + "task_desc": "Put a chilled cup in the coffee maker.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100841_356010/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100841_356010/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..83ba8086d976e307835dc342493223a30b2dc76f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100841_356010/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 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_100841_356010)\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_06_bar__plus_01_dot_16_bar__minus_00_dot_76 - object\n Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_02_dot_03 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_09 - object\n Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 - object\n Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70 - object\n ButterKnife_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50 - 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__plus_01_dot_69_bar__plus_00_dot_55_bar__minus_02_dot_61 - object\n Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_51 - object\n Cup_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_00_dot_92 - object\n Cup_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_70 - object\n DishSponge_bar__plus_00_dot_84_bar__plus_00_dot_48_bar__minus_02_dot_33 - object\n Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_93 - object\n Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n Fork_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_87 - object\n Glassbottle_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_49 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Kettle_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Knife_bar__minus_01_dot_94_bar__plus_00_dot_94_bar__minus_02_dot_26 - object\n Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_25 - object\n Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 - 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_58_bar__plus_00_dot_55_bar__minus_02_dot_51 - object\n Mug_bar__minus_00_dot_07_bar__plus_01_dot_79_bar__minus_02_dot_51 - object\n Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object\n Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object\n PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_66_bar__minus_02_dot_41 - object\n PepperShaker_bar__plus_00_dot_78_bar__plus_00_dot_14_bar__minus_02_dot_43 - object\n PepperShaker_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_72 - object\n Plate_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 - object\n Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_76 - object\n Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 - object\n Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_18 - object\n SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_48_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_10_bar__plus_00_dot_91_bar__minus_02_dot_56 - object\n SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_02_dot_17 - object\n Spatula_bar__minus_01_dot_65_bar__plus_00_dot_17_bar__minus_00_dot_20 - object\n Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Spoon_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_50 - object\n Statue_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Statue_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 - 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__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_56 - object\n Vase_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_64 - object\n Vase_bar__minus_01_dot_51_bar__plus_01_dot_66_bar__minus_02_dot_60 - object\n Vase_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_27 - object\n Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object\n WineBottle_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_56 - object\n WineBottle_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_53 - 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_3_bar__minus_6_bar_0_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 (receptacleType CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 CounterTopType)\n (receptacleType 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WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_53)\n (coolable Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17)\n (coolable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25)\n (coolable Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89)\n (coolable Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_51)\n (coolable Cup_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_00_dot_92)\n (coolable Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_02_dot_03)\n (coolable Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76)\n (coolable Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_93)\n (coolable Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42)\n (coolable Apple_bar__minus_00_dot_06_bar__plus_01_dot_16_bar__minus_00_dot_76)\n (coolable WineBottle_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_56)\n (coolable Mug_bar__minus_00_dot_07_bar__plus_01_dot_79_bar__minus_02_dot_51)\n (coolable Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33)\n (coolable Bowl_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33)\n (coolable Cup_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_70)\n (coolable Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70)\n (coolable Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36)\n \n \n \n \n \n (sliceable Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_76)\n (sliceable Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_25)\n (sliceable Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_56)\n (sliceable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25)\n (sliceable Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89)\n (sliceable Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_02_dot_03)\n (sliceable Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76)\n (sliceable Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_93)\n (sliceable Apple_bar__minus_00_dot_06_bar__plus_01_dot_16_bar__minus_00_dot_76)\n (sliceable Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70)\n \n (inReceptacle Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle Kettle_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)\n (inReceptacle Plate_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 Fork_bar__minus_00_dot_06_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 Statue_bar__plus_00_dot_08_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_06_bar__plus_01_dot_19_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Apple_bar__minus_00_dot_06_bar__plus_01_dot_16_bar__minus_00_dot_76 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 Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_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_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_27 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle SoapBottle_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Bowl_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33 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_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle WineBottle_bar__plus_00_dot_84_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 Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 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 Spoon_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 SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_48_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle DishSponge_bar__plus_00_dot_84_bar__plus_00_dot_48_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle Vase_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_64 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Vase_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 Glassbottle_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_49 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__plus_00_dot_78_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 WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_53 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Spatula_bar__minus_01_dot_65_bar__plus_00_dot_17_bar__minus_00_dot_20 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle WineBottle_bar__plus_00_dot_56_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 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 Cup_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Fork_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_87 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Knife_bar__minus_01_dot_94_bar__plus_00_dot_94_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Statue_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Cup_bar__minus_00_dot_33_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 Mug_bar__minus_00_dot_07_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 PepperShaker_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 PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_66_bar__minus_02_dot_41 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle CreditCard_bar__plus_01_dot_69_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 (inReceptacleObject Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42)\n (inReceptacle Egg_bar__minus_01_dot_94_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 Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89 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 Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_02_dot_03 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Cup_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_00_dot_92 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_18 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17)\n (inReceptacle Potato_bar__minus_01_dot_91_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 Spoon_bar__minus_01_dot_85_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 Bowl_bar__minus_01_dot_91_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 (inReceptacle ButterKnife_bar__minus_01_dot_96_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 \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_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Spoon_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 Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_02_dot_03 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_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 Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_64 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Cup_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_56 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Statue_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_93 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Kettle_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 SoapBottle_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)\n (objectAtLocation Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation WineBottle_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_51 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\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__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_49 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_94_bar__plus_00_dot_94_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_76 loc_bar__minus_5_bar__minus_6_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__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_47_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\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_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_27 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_55_bar__minus_02_dot_61 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_00_dot_08_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_12_bar__plus_01_dot_66_bar__minus_02_dot_53 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_18 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_65_bar__plus_00_dot_17_bar__minus_00_dot_20 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_66_bar__minus_02_dot_41 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_00_dot_92 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_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 Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_48_bar__minus_02_dot_33 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_78_bar__plus_00_dot_14_bar__minus_02_dot_43 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_06_bar__plus_01_dot_16_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_00_dot_84_bar__plus_00_dot_48_bar__minus_02_dot_33 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_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__minus_00_dot_07_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 (?o - object)\n (and\n (coolable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take mug 2 from countertop 2", "go to fridge 1", "cool mug 2 with fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100841_356010/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100841_356010/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..28159a0d31f8e3263ca35574602834aba4f7c2d6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100841_356010/initial_state.pddl @@ -0,0 +1,1221 @@ + +(define (problem plan_trial_T20190907_100841_356010) +(: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_06_bar__plus_01_dot_16_bar__minus_00_dot_76 - object + Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_02_dot_03 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 - object + Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_09 - object + Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 - object + Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70 - object + ButterKnife_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_50 - 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_69_bar__plus_00_dot_55_bar__minus_02_dot_61 - object + Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_51 - object + Cup_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_00_dot_92 - object + Cup_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_70 - object + DishSponge_bar__plus_00_dot_84_bar__plus_00_dot_48_bar__minus_02_dot_33 - object + Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_93 - object + Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Fork_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_87 - object + Glassbottle_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_49 - 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_37 - object + Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object + Kettle_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Knife_bar__minus_01_dot_94_bar__plus_00_dot_94_bar__minus_02_dot_26 - object + Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_25 - object + Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51 - object + Mug_bar__minus_00_dot_07_bar__plus_01_dot_79_bar__minus_02_dot_51 - object + Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object + Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object + PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_66_bar__minus_02_dot_41 - object + PepperShaker_bar__plus_00_dot_78_bar__plus_00_dot_14_bar__minus_02_dot_43 - object + PepperShaker_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_72 - object + Plate_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 - object + Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_76 - object + Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 - object + Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_18 - object + SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_48_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_10_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_02_dot_17 - object + Spatula_bar__minus_01_dot_65_bar__plus_00_dot_17_bar__minus_00_dot_20 - object + Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Spoon_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_50 - object + Statue_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Statue_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 - 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_97_bar__plus_00_dot_95_bar__minus_02_dot_56 - object + Vase_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_64 - object + Vase_bar__minus_01_dot_51_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + Vase_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_27 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_56 - object + WineBottle_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_53 - 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 + 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loc_bar_7_bar__minus_5_bar_2_bar_30 - location + loc_bar_7_bar__minus_7_bar_3_bar_45 - location + 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_3_bar__minus_6_bar_0_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) + (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 GarbageCanType) + (receptacleType CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 CounterTopType) + (receptacleType CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 CoffeeMachineType) + (receptacleType Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 ToasterType) + (receptacleType CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 CounterTopType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 ShelfType) + (receptacleType Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 CabinetType) + (receptacleType Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 MicrowaveType) + (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 StoveBurnerType) + (receptacleType CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 CounterTopType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 StoveBurnerType) + (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType) + (receptacleType 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Knife_bar__minus_01_dot_94_bar__plus_00_dot_94_bar__minus_02_dot_26) + (cleanable Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37) + (cleanable Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25) + (cleanable Mug_bar__minus_00_dot_07_bar__plus_01_dot_79_bar__minus_02_dot_51) + (cleanable Bowl_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33) + (cleanable Bowl_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33) + (cleanable Cup_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_70) + (cleanable Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_64) + (cleanable Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36) + + (heatable Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_76) + (heatable Plate_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76) + (heatable Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_56) + (heatable Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51) + (heatable Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17) + (heatable Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89) + (heatable Cup_bar__minus_00_dot_33_bar__plus_01_dot_79_bar__minus_02_dot_51) + (heatable Cup_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_00_dot_92) + (heatable Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_02_dot_03) + (heatable Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76) + (heatable Egg_bar__minus_01_dot_94_bar__plus_00_dot_08_bar__plus_01_dot_93) + (heatable Apple_bar__minus_00_dot_06_bar__plus_01_dot_16_bar__minus_00_dot_76) + (heatable Mug_bar__minus_00_dot_07_bar__plus_01_dot_79_bar__minus_02_dot_51) + (heatable Cup_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_70) + (heatable Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70) + (coolable Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_76) + (coolable WineBottle_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_64) + (coolable Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_25) + (coolable Pot_bar__minus_02_dot_08_bar__plus_01_dot_51_bar__plus_01_dot_18) + (coolable Plate_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76) + (coolable Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_56) + (coolable Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51) + (coolable Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_09) + (coolable WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_53) + (coolable Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17) + (coolable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25) + (coolable Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89) + (coolable 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Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37) + (inReceptacle Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37) + (inReceptacle Kettle_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 Plate_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) + (inReceptacle Fork_bar__minus_00_dot_06_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) + (inReceptacle Statue_bar__plus_00_dot_08_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_06_bar__plus_01_dot_19_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_01_dot_18_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Apple_bar__minus_00_dot_06_bar__plus_01_dot_16_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 Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Vase_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_27 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97) + (inReceptacle SoapBottle_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Bowl_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Tomato_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle WineBottle_bar__plus_00_dot_84_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) + (inReceptacle Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (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) + (inReceptacle Spoon_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) + (inReceptacle SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_48_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20) + (inReceptacle DishSponge_bar__plus_00_dot_84_bar__plus_00_dot_48_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20) + (inReceptacle Vase_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_64 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Vase_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) + (inReceptacle Glassbottle_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_49 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle PepperShaker_bar__plus_00_dot_78_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) + (inReceptacle WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_53 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Spatula_bar__minus_01_dot_65_bar__plus_00_dot_17_bar__minus_00_dot_20 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle WineBottle_bar__plus_00_dot_56_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) + (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 Cup_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Bread_bar__minus_01_dot_86_bar__plus_00_dot_98_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Fork_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_87 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Knife_bar__minus_01_dot_94_bar__plus_00_dot_94_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Fork_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Statue_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Cup_bar__minus_00_dot_33_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 Mug_bar__minus_00_dot_07_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 PepperShaker_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) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_66_bar__minus_02_dot_41 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Mug_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle CreditCard_bar__plus_01_dot_69_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) + (inReceptacleObject Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_33 Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42) + (inReceptacle Egg_bar__minus_01_dot_94_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) + (inReceptacle Egg_bar__minus_01_dot_99_bar__plus_00_dot_08_bar__plus_01_dot_89 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (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) + (inReceptacle Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_02_dot_03 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Cup_bar__minus_02_dot_00_bar__plus_00_dot_23_bar__plus_00_dot_92 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Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + + + (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) + (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) + (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) + (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) + (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) + (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) + (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 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Shut the door. Open the fridge and take the mug out and shut the door again.", + "Turn to the left and go back to the coffee maker.", + "Place the mug under the coffee maker." + ], + "task_desc": "Chill a mug of coffee.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3UUH3632AI3ZX_3J88R45B2JF04A2782AK76L8V00PXJ", + "high_descs": [ + "Go to the left, walk forward, turn right and then walk to the coffee machine on the left.", + "Pick up the cup from the coffee machine. ", + "Go right to the refrigerator. ", + "Open the refrigerator, put the cup into it, close the refrigerator, open the refrigerator and take the cup out. ", + "Go left to the coffee machine.", + "Place the cup on to the coffee machine." + ], + "task_desc": "Cool down a coffee cup. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3JZQSN0I3TRDRBIN5PEB7Q79R55FG5", + "high_descs": [ + "Turn left and walk through the kitchen to the coffee maker on the counter", + "Pick up the white mug from the coffee maker", + "Turn right and walk to the fridge", + "Put the mug into the fridge then remove it", + "Turn left and walk back to the coffee maker", + "Put the mug in the coffee maker" + ], + "task_desc": "Put the chilled mug in the coffee maker", + "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-Mug-None-CoffeeMachine-1/trial_T20190907_100909_634204/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100909_634204/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..737f23a85230819210f0a5ad02ed3c385942b799 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100909_634204/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 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_100909_634204)\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_33 - object\n Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55 - object\n Apple_bar__minus_02_dot_16_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__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_34 - object\n Bowl_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 - object\n ButterKnife_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_64 - 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_78_bar__plus_00_dot_48_bar__minus_02_dot_33 - object\n CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_67 - object\n Cup_bar__minus_02_dot_08_bar__plus_00_dot_80_bar__plus_01_dot_25 - object\n DishSponge_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_41 - object\n Fork_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_00_dot_25 - object\n Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n Glassbottle_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_56 - object\n Glassbottle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_41 - object\n Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_98 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_76 - object\n Knife_bar__plus_01_dot_10_bar__plus_00_dot_94_bar__minus_02_dot_48 - object\n Knife_bar__minus_01_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_31 - object\n Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94 - object\n LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object\n Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_51 - object\n Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n Mug_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_74 - object\n Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object\n PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_99_bar__minus_02_dot_51 - object\n PepperShaker_bar__minus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_34 - object\n Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00 - object\n Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67 - object\n Pot_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n SaltShaker_bar__plus_01_dot_07_bar__plus_00_dot_48_bar__minus_02_dot_48 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_02_dot_17 - object\n Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_56 - object\n Spatula_bar__plus_00_dot_78_bar__plus_00_dot_79_bar__minus_02_dot_46 - object\n Spatula_bar__plus_01_dot_12_bar__plus_00_dot_50_bar__minus_02_dot_43 - object\n Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Statue_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 - 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__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71 - object\n Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00 - object\n Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59 - object\n Vase_bar__plus_01_dot_01_bar__plus_01_dot_66_bar__minus_02_dot_60 - object\n Vase_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_56 - object\n Vase_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 - object\n Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object\n WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n WineBottle_bar__plus_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_56 - 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_6_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 (receptacleType CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 CounterTopType)\n (receptacleType 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Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01)\n (sliceable Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94)\n (sliceable Apple_bar__minus_02_dot_16_bar__plus_01_dot_55_bar__plus_01_dot_09)\n (sliceable Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03)\n (sliceable Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55)\n (sliceable Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71)\n (sliceable Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_33)\n (sliceable Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67)\n (sliceable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59)\n (sliceable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00)\n \n (inReceptacle Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle Spatula_bar__plus_00_dot_78_bar__plus_00_dot_79_bar__minus_02_dot_46 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20)\n (inReceptacle Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_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_52_bar__plus_01_dot_17_bar__minus_00_dot_03 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Statue_bar__minus_00_dot_06_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 Plate_bar__minus_00_dot_20_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 Statue_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 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_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle WineBottle_bar__plus_00_dot_08_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 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 Mug_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_74 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle ButterKnife_bar__plus_00_dot_32_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 DishSponge_bar__plus_00_dot_58_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 Pot_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Knife_bar__plus_01_dot_10_bar__plus_00_dot_94_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_56 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_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Spoon_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 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 SoapBottle_bar__plus_00_dot_84_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 Fork_bar__plus_00_dot_45_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 Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71 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 Spatula_bar__plus_01_dot_12_bar__plus_00_dot_50_bar__minus_02_dot_43 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_48_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle SaltShaker_bar__plus_01_dot_07_bar__plus_00_dot_48_bar__minus_02_dot_48 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20)\n (inReceptacle Vase_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 Bowl_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_34 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle WineBottle_bar__plus_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_56 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Vase_bar__plus_01_dot_01_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle PepperShaker_bar__minus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_34 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle Fork_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 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 Knife_bar__minus_01_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_31 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Bowl_bar__minus_01_dot_00_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)\n (inReceptacle Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94 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_55 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_51 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Glassbottle_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 PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_99_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle Vase_bar__plus_01_dot_89_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 CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_67 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_98 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle SoapBottle_bar__minus_01_dot_91_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 Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Cup_bar__minus_02_dot_08_bar__plus_00_dot_80_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Apple_bar__minus_02_dot_16_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 (inReceptacle Glassbottle_bar__minus_01_dot_80_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_91_bar__plus_00_dot_80_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_33 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_59 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_51 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Bowl_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_34 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_12_bar__plus_00_dot_50_bar__minus_02_dot_43 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_48_bar__minus_02_dot_33 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_02_dot_17 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Glassbottle_bar__minus_01_dot_80_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_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 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 Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Fork_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 Knife_bar__plus_01_dot_10_bar__plus_00_dot_94_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\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_57 loc_bar_3_bar_0_bar_0_bar_60)\n (objectAtLocation Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_98 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_31 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_6_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_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\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__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__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Vase_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 Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01 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_67 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Statue_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 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_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_56 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Pot_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_78_bar__plus_00_dot_79_bar__minus_02_dot_46 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_99_bar__minus_02_dot_51 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__minus_02_dot_08_bar__plus_00_dot_80_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_01_dot_01_bar__plus_01_dot_66_bar__minus_02_dot_60 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_07_bar__plus_00_dot_48_bar__minus_02_dot_48 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_34 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_16_bar__plus_01_dot_55_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spoon_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 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_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_74 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take mug 2 from countertop 2", "go to fridge 1", "cool mug 2 with fridge 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_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100909_634204/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100909_634204/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..66bed98ee3d07ef6c11e99dab22553456d8e5a66 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Mug-None-CoffeeMachine-1/trial_T20190907_100909_634204/initial_state.pddl @@ -0,0 +1,1212 @@ + +(define (problem plan_trial_T20190907_100909_634204) +(: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_33 - object + Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55 - object + Apple_bar__minus_02_dot_16_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__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_34 - object + Bowl_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 - object + ButterKnife_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_64 - 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_78_bar__plus_00_dot_48_bar__minus_02_dot_33 - object + CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_67 - object + Cup_bar__minus_02_dot_08_bar__plus_00_dot_80_bar__plus_01_dot_25 - object + DishSponge_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_41 - object + Fork_bar__minus_01_dot_74_bar__plus_00_dot_16_bar__minus_00_dot_25 - object + Fork_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_33 - object + Glassbottle_bar__plus_02_dot_10_bar__plus_00_dot_88_bar__minus_02_dot_56 - object + Glassbottle_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_41 - object + Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_98 - 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_37 - 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 + Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_76 - object + Knife_bar__plus_01_dot_10_bar__plus_00_dot_94_bar__minus_02_dot_48 - object + Knife_bar__minus_01_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_31 - object + Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_51 - object + Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Mug_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_74 - object + Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object + PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_99_bar__minus_02_dot_51 - object + PepperShaker_bar__minus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_34 - object + Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00 - object + Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67 - object + Pot_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + SaltShaker_bar__plus_01_dot_07_bar__plus_00_dot_48_bar__minus_02_dot_48 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_02_dot_17 - object + Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_56 - object + Spatula_bar__plus_00_dot_78_bar__plus_00_dot_79_bar__minus_02_dot_46 - object + Spatula_bar__plus_01_dot_12_bar__plus_00_dot_50_bar__minus_02_dot_43 - object + Spoon_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Statue_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Statue_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 - 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_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71 - object + Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00 - object + Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59 - object + Vase_bar__plus_01_dot_01_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + Vase_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_56 - object + Vase_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__minus_02_dot_57 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + WineBottle_bar__plus_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_56 - 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 + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 - 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Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67) + (cleanable Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42) + (cleanable Cup_bar__minus_02_dot_08_bar__plus_00_dot_80_bar__plus_01_dot_25) + (cleanable Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37) + (cleanable Bowl_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_34) + (cleanable ButterKnife_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_64) + (cleanable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59) + (cleanable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00) + (cleanable Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00) + (cleanable Bowl_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48) + (cleanable Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_51) + + (heatable Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01) + (heatable Apple_bar__minus_02_dot_16_bar__plus_01_dot_55_bar__plus_01_dot_09) + (heatable Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03) + (heatable Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25) + (heatable Mug_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_74) + (heatable Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55) + (heatable Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71) + (heatable Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_76) + (heatable Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_33) + (heatable Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67) + (heatable Cup_bar__minus_02_dot_08_bar__plus_00_dot_80_bar__plus_01_dot_25) + (heatable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59) + (heatable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00) + (heatable Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00) + (heatable Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_51) + (coolable Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01) + (coolable WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_76) + (coolable Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94) + (coolable Apple_bar__minus_02_dot_16_bar__plus_01_dot_55_bar__plus_01_dot_09) + (coolable Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03) + (coolable Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25) + (coolable Mug_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_74) + (coolable Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55) + (coolable Pot_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48) + (coolable Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71) + (coolable Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_76) + (coolable Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_33) + (coolable Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67) + (coolable Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42) + (coolable Cup_bar__minus_02_dot_08_bar__plus_00_dot_80_bar__plus_01_dot_25) + (coolable WineBottle_bar__plus_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_56) + (coolable Bowl_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_34) + (coolable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59) + (coolable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00) + (coolable Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00) + (coolable Bowl_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48) + (coolable Mug_bar__minus_00_dot_28_bar__plus_01_dot_79_bar__minus_02_dot_51) + + + + + + (sliceable Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01) + (sliceable Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94) + (sliceable Apple_bar__minus_02_dot_16_bar__plus_01_dot_55_bar__plus_01_dot_09) + (sliceable Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03) + (sliceable Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55) + (sliceable Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71) + (sliceable Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_33) + (sliceable Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67) + (sliceable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59) + (sliceable Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00) + + (inReceptacle Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37) + (inReceptacle Spatula_bar__plus_00_dot_78_bar__plus_00_dot_79_bar__minus_02_dot_46 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20) + (inReceptacle Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37) + (inReceptacle Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Tomato_bar__minus_00_dot_34_bar__plus_01_dot_15_bar_00_dot_00 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__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Plate_bar__minus_00_dot_20_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 Statue_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 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_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle WineBottle_bar__plus_00_dot_08_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 Mug_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_74 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97) + (inReceptacle ButterKnife_bar__plus_00_dot_32_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) + (inReceptacle DishSponge_bar__plus_00_dot_58_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) + (inReceptacle Pot_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Knife_bar__plus_01_dot_10_bar__plus_00_dot_94_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Spatula_bar__plus_00_dot_45_bar__plus_00_dot_93_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_33 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Spoon_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) + (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) + (inReceptacle SoapBottle_bar__plus_00_dot_84_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) + (inReceptacle Fork_bar__plus_00_dot_45_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) + (inReceptacle Tomato_bar__plus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_71 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (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) + (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_50_bar__minus_02_dot_43 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20) + (inReceptacle CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_48_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20) + (inReceptacle SaltShaker_bar__plus_01_dot_07_bar__plus_00_dot_48_bar__minus_02_dot_48 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20) + (inReceptacle Vase_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) + (inReceptacle Bowl_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_34 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle WineBottle_bar__plus_00_dot_78_bar__plus_01_dot_66_bar__minus_02_dot_56 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Vase_bar__plus_01_dot_01_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle PepperShaker_bar__minus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_34 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle Fork_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 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 Knife_bar__minus_01_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_31 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Mug_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Bowl_bar__minus_01_dot_00_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 Lettuce_bar__minus_01_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_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_28_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 Glassbottle_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) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_79_bar__plus_00_dot_99_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56) + (inReceptacle Vase_bar__plus_01_dot_89_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) + (inReceptacle CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_67 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Glassbottle_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_98 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle SoapBottle_bar__minus_01_dot_91_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) + (inReceptacle Egg_bar__minus_01_dot_98_bar__plus_01_dot_34_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Cup_bar__minus_02_dot_08_bar__plus_00_dot_80_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Apple_bar__minus_02_dot_16_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) + (inReceptacle Glassbottle_bar__minus_01_dot_80_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) + (inReceptacle Potato_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_67 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Fork_bar__minus_01_dot_91_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) + (inReceptacle Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + + + (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) + (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) + (receptacleAtLocation 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} + ], + "object_toggles": [], + "random_seed": 2111302024, + "scene_num": 1 + }, + "task_id": "trial_T20190907_100909_634204", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_3AUQQEL7U8A5C4TSR2UC4KNF8PM0V7", + "high_descs": [ + "Turn right, head around the kitchen to the counter right of the stove. ", + "Pick up the mug from the counter right of the stove. ", + "Turn around and bring the mug to the fridge on the left. ", + "Chill the mug in the fridge.", + "Bring the mug to the coffee machine left of the fridge. ", + "Put the mug on the coffee machine. " + ], + "task_desc": "Put a chilled mug on the coffee machine. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AUTYWXILTACCR_3P4RDNWND8N7S4AEE35Z70CHZVFIJG", + "high_descs": [ + "Turn to your right, then turn right again to enter the kitchen, and walk to the counter to the right of the stove.", + "Pick up the mug from the edge of the counter.", + "Turn around, and walk to the fridge on your left.", + "Cool the mug in the fridge, then pick it up again.", + "Turn around and walk to the coffee machine on your right.", + "Place the mug in the coffee machine." + ], + "task_desc": "Place a cooled mug in a coffee machine.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3ZGVPD4G6WYN1XVTQ17P912GTA8TZT", + "high_descs": [ + "Turn to the right and then right again to stand in front of the counter to the right of the stove.", + "Pick the white mug up from the counter.", + "Go to the right and stand facing the fridge.", + "Open the fridge and put the mug on the top shelf, close the door and then open the door, and take the mug out and then shut the door.", + "Go to the left and stand in front of the counter in front of the blue coffee maker.", + "Put the mug down under the blue coffee maker on the counter." + ], + "task_desc": "Put a chilled mug under a coffee maker.", + "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-Pan-None-DiningTable-11/trial_T20190908_204315_625279/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204315_625279/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..ab191a5c9d5ed55e12f8f9ea472739e1c6fa9d4b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204315_625279/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 pan 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_T20190908_204315_625279)\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_33_bar__plus_00_dot_14_bar__plus_00_dot_48 - object\n Apple_bar__minus_00_dot_36_bar__plus_00_dot_14_bar__plus_00_dot_61 - object\n Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Bowl_bar__plus_01_dot_75_bar__plus_01_dot_33_bar__minus_01_dot_81 - object\n Bread_bar__plus_00_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_29 - object\n ButterKnife_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_58 - object\n ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n ButterKnife_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 - 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_46_bar__plus_01_dot_33_bar__minus_01_dot_77 - object\n DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_27 - object\n DishSponge_bar__minus_00_dot_49_bar__plus_00_dot_77_bar__minus_01_dot_54 - object\n Egg_bar__plus_00_dot_27_bar__plus_00_dot_81_bar__minus_01_dot_65 - object\n Egg_bar__minus_00_dot_30_bar__plus_00_dot_11_bar__plus_00_dot_40 - object\n Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_80 - 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_56_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Kettle_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_49 - object\n Knife_bar__plus_00_dot_65_bar__plus_00_dot_94_bar__minus_01_dot_65 - object\n Knife_bar__plus_01_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_65 - object\n Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_29 - object\n Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 - object\n Lettuce_bar__minus_00_dot_27_bar__plus_01_dot_00_bar__minus_01_dot_82 - 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_87_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_40 - object\n PepperShaker_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n PepperShaker_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 - object\n Plate_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Potato_bar__plus_01_dot_17_bar__plus_00_dot_94_bar__minus_01_dot_41 - object\n Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_67 - object\n Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_41 - 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_75_bar__plus_00_dot_92_bar__minus_01_dot_58 - object\n SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 - object\n SoapBottle_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_88 - object\n Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_54 - object\n Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_29 - object\n Spoon_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_00_dot_27 - 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__minus_00_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49 - 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__minus_4_bar__minus_3_bar_3_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 Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (objectType Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_51 BowlType)\n (objectType SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_41 SaltShakerType)\n (objectType StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Egg_bar__plus_00_dot_27_bar__plus_00_dot_81_bar__minus_01_dot_65 EggType)\n (objectType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 SinkType)\n (objectType Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 WindowType)\n (objectType LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 LightSwitchType)\n (objectType Plate_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 PlateType)\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 PepperShaker_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_71 PepperShakerType)\n (objectType StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Potato_bar__plus_01_dot_17_bar__plus_00_dot_94_bar__minus_01_dot_41 PotatoType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Spoon_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_00_dot_27 SpoonType)\n (objectType Lettuce_bar__minus_00_dot_27_bar__plus_01_dot_00_bar__minus_01_dot_82 LettuceType)\n (objectType SoapBottle_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_88 SoapBottleType)\n (objectType SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_71 SaltShakerType)\n (objectType ButterKnife_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 ButterKnifeType)\n (objectType Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 MugType)\n (objectType PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 PepperShakerType)\n (objectType ButterKnife_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_58 ButterKnifeType)\n (objectType PepperShaker_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_41 PepperShakerType)\n (objectType Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 ChairType)\n (objectType ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_46 ButterKnifeType)\n (objectType DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_27 DishSpongeType)\n (objectType Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 PlateType)\n (objectType Bread_bar__plus_00_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_29 BreadType)\n (objectType Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_67 PotatoType)\n (objectType Knife_bar__plus_00_dot_65_bar__plus_00_dot_94_bar__minus_01_dot_65 KnifeType)\n (objectType Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 WindowType)\n (objectType 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Egg_bar__plus_00_dot_27_bar__plus_00_dot_81_bar__minus_01_dot_65)\n (sliceable Potato_bar__plus_01_dot_17_bar__plus_00_dot_94_bar__minus_01_dot_41)\n (sliceable Lettuce_bar__minus_00_dot_27_bar__plus_01_dot_00_bar__minus_01_dot_82)\n (sliceable Bread_bar__plus_00_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_29)\n (sliceable Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_67)\n (sliceable Egg_bar__minus_00_dot_30_bar__plus_00_dot_11_bar__plus_00_dot_40)\n (sliceable Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62)\n (sliceable Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_80)\n (sliceable Tomato_bar__minus_00_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49)\n (sliceable Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_29)\n (sliceable Apple_bar__minus_00_dot_36_bar__plus_00_dot_14_bar__plus_00_dot_61)\n (sliceable Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_48)\n \n (inReceptacle 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Potato_bar__plus_01_dot_17_bar__plus_00_dot_94_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__minus_00_dot_18_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 Lettuce_bar__minus_00_dot_27_bar__plus_01_dot_00_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__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 DishSponge_bar__minus_00_dot_49_bar__plus_00_dot_77_bar__minus_01_dot_54 Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50)\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 Spoon_bar__minus_00_dot_07_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 DishSponge_bar__plus_01_dot_83_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 Plate_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_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 PepperShaker_bar__minus_00_dot_59_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 Lettuce_bar__plus_01_dot_79_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 ButterKnife_bar__plus_01_dot_72_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 Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_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_72_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Bowl_bar__plus_01_dot_75_bar__plus_01_dot_33_bar__minus_01_dot_81 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GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_48 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Apple_bar__minus_00_dot_36_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 Egg_bar__minus_00_dot_30_bar__plus_00_dot_11_bar__plus_00_dot_40 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\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_87_bar__plus_01_dot_01_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_27 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_67 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_33_bar__plus_00_dot_14_bar__plus_00_dot_48 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_80 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_88 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Kettle_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Lettuce_bar__minus_00_dot_27_bar__plus_01_dot_00_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_27_bar__plus_00_dot_81_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_46 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__plus_00_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_65_bar__plus_00_dot_94_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_75_bar__plus_01_dot_33_bar__minus_01_dot_81 loc_bar_6_bar__minus_4_bar_2_bar_0)\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 Cup_bar__plus_01_dot_46_bar__plus_01_dot_33_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Tomato_bar__minus_00_dot_54_bar__plus_00_dot_96_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation SoapBottle_bar__plus_00_dot_75_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_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar_1_bar__minus_2_bar_2_bar_60)\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__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_36_bar__plus_00_dot_17_bar__plus_00_dot_40 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_30_bar__plus_00_dot_11_bar__plus_00_dot_40 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PepperShaker_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_36_bar__plus_00_dot_14_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\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_01_dot_17_bar__plus_00_dot_94_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15)\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_00_dot_49_bar__plus_00_dot_77_bar__minus_01_dot_54 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_00_dot_27 loc_bar__minus_1_bar__minus_2_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 PanType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 4", "take pan 1 from stoveburner 4", "go to fridge 1", "cool pan 1 with fridge 1", "go to diningtable 1", "move pan 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204315_625279/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204315_625279/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0904dd292bf11b71eae0444e4646855152b31d06 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204315_625279/initial_state.pddl @@ -0,0 +1,1015 @@ + +(define (problem plan_trial_T20190908_204315_625279) +(: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_33_bar__plus_00_dot_14_bar__plus_00_dot_48 - object + Apple_bar__minus_00_dot_36_bar__plus_00_dot_14_bar__plus_00_dot_61 - object + Bowl_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_51 - object + Bowl_bar__plus_01_dot_75_bar__plus_01_dot_33_bar__minus_01_dot_81 - object + Bread_bar__plus_00_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_29 - object + ButterKnife_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_58 - object + ButterKnife_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_46 - object + ButterKnife_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__plus_01_dot_46_bar__plus_01_dot_33_bar__minus_01_dot_77 - object + DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_27 - object + DishSponge_bar__minus_00_dot_49_bar__plus_00_dot_77_bar__minus_01_dot_54 - object + Egg_bar__plus_00_dot_27_bar__plus_00_dot_81_bar__minus_01_dot_65 - object + Egg_bar__minus_00_dot_30_bar__plus_00_dot_11_bar__plus_00_dot_40 - object + Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_80 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 - object + Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + Kettle_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_49 - object + Knife_bar__plus_00_dot_65_bar__plus_00_dot_94_bar__minus_01_dot_65 - object + Knife_bar__plus_01_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_65 - object + Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_29 - object + Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 - object + Lettuce_bar__minus_00_dot_27_bar__plus_01_dot_00_bar__minus_01_dot_82 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__plus_00_dot_62_bar__plus_00_dot_95_bar__plus_00_dot_47 - object + Mug_bar__minus_00_dot_87_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_40 - object + PepperShaker_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + PepperShaker_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_51 - object + Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 - object + Plate_bar__minus_00_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_51 - object + Potato_bar__plus_01_dot_17_bar__plus_00_dot_94_bar__minus_01_dot_41 - object + Potato_bar__minus_00_dot_92_bar__plus_01_dot_05_bar__minus_01_dot_67 - object + Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_92_bar__minus_01_dot_58 - object + SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 - object + SoapBottle_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_88 - object + Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_54 - object + Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + Spoon_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_00_dot_27 - 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 + 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CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle ButterKnife_bar__plus_01_dot_72_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 Spatula_bar__plus_01_dot_60_bar__plus_00_dot_93_bar__plus_00_dot_54 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle PepperShaker_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Bowl_bar__plus_01_dot_75_bar__plus_01_dot_33_bar__minus_01_dot_81 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loc_bar_6_bar__minus_1_bar_0_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_36_bar__plus_00_dot_14_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_0_bar_60) + (objectAtLocation ButterKnife_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15) + (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__plus_01_dot_17_bar__plus_00_dot_94_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15) + (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_00_dot_49_bar__plus_00_dot_77_bar__minus_01_dot_54 loc_bar__minus_5_bar__minus_4_bar_1_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_07_bar__plus_00_dot_77_bar__plus_00_dot_27 loc_bar__minus_1_bar__minus_2_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 PanType) + (receptacleType ?r DiningTableType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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and close the fridge.", + "Turn around and walk to the white table in the corner of the room.", + "Put the chilled pan on the white table." + ], + "task_desc": "Put a chilled metal pan on a white table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_3NGI5ARFTWW0ZY3CXHEUDJ19LV11P1", + "high_descs": [ + "Turn around and go to the oven", + "Grab the pan from the bottom left stove", + "Turn left and go to the fridge", + "Put the pan in the fridge and close the door. Then open the fridge and take it out", + "Turn around and stop at the white table", + "Put the pan on the table" + ], + "task_desc": "Putting a pan on the white table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3TOK3KHVJW9WPK6D7XIOPTNWEC8O77", + "high_descs": [ + "Turn around and cross the room to stand in front of the stove.", + "Pick the pan from the bottom left of the stove up.", + "Go left and then left to face the fridge.", + "Put the pan in the fridge and shut the door and then open it and take the pan out again and shut the door.", + "Turn around and face the white table behind.", + "Put the pan on the white table." + ], + "task_desc": "Put a chilled pan on a table.", + "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-Pan-None-DiningTable-11/trial_T20190908_204347_530034/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204347_530034/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..09f43358adc13e09d02788621968eb2d1cb69e29 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204347_530034/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 pan 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_204347_530034)\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_54_bar__plus_00_dot_98_bar__minus_01_dot_90 - object\n Bowl_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_57 - object\n Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object\n Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 - object\n ButterKnife_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_46 - object\n ButterKnife_bar__plus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_65 - object\n ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_65 - 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_21_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Cup_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n DishSponge_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Egg_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_75 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__minus_01_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_51 - object\n Kettle_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_64 - object\n Knife_bar__plus_01_dot_41_bar__plus_00_dot_94_bar__minus_01_dot_57 - object\n Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_29 - object\n Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_54 - object\n Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 - object\n Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_38 - object\n Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 - 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_39_bar__plus_00_dot_10_bar__minus_01_dot_51 - object\n Mug_bar__plus_00_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_65 - object\n Mug_bar__minus_00_dot_98_bar__plus_01_dot_01_bar__minus_01_dot_74 - object\n Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__plus_01_dot_97_bar__plus_01_dot_02_bar__plus_00_dot_46 - object\n PepperShaker_bar__plus_00_dot_17_bar__plus_00_dot_10_bar__plus_00_dot_32 - object\n PepperShaker_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_90 - object\n Plate_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_31 - object\n Plate_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51 - object\n Potato_bar__minus_00_dot_36_bar__plus_00_dot_10_bar__plus_00_dot_40 - object\n Potato_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_80 - 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_41_bar__plus_00_dot_91_bar__minus_01_dot_90 - object\n SaltShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_40 - 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_30_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 - object\n SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_07_bar__plus_00_dot_57 - object\n Spatula_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_65 - object\n Spatula_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__minus_01_dot_74 - object\n Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 - 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_75_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__minus_1_bar__minus_1_bar_1_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 Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (objectType Tomato_bar__plus_00_dot_75_bar__plus_00_dot_97_bar__minus_01_dot_78 TomatoType)\n (objectType Bowl_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_57 BowlType)\n (objectType StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 SinkType)\n (objectType PepperShaker_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 PepperShakerType)\n (objectType Kettle_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_64 KettleType)\n (objectType Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 WindowType)\n (objectType LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 LightSwitchType)\n (objectType Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 LettuceType)\n (objectType Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_54 KnifeType)\n (objectType StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 PotType)\n (objectType Potato_bar__minus_01_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_80 PotatoType)\n (objectType ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_65 ButterKnifeType)\n (objectType Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_38 LettuceType)\n (objectType PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_90 PepperShakerType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Fork_bar__minus_01_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_51 ForkType)\n (objectType Mug_bar__minus_00_dot_98_bar__plus_01_dot_01_bar__minus_01_dot_74 MugType)\n (objectType SoapBottle_bar__plus_00_dot_30_bar__plus_00_dot_91_bar__plus_00_dot_21 SoapBottleType)\n (objectType Potato_bar__minus_00_dot_36_bar__plus_00_dot_10_bar__plus_00_dot_40 PotatoType)\n (objectType SaltShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_40 SaltShakerType)\n (objectType ButterKnife_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_46 ButterKnifeType)\n (objectType Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 PanType)\n (objectType Mug_bar__plus_00_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_65 MugType)\n (objectType SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_07_bar__plus_00_dot_57 SoapBottleType)\n (objectType Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 ChairType)\n (objectType ButterKnife_bar__plus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_65 ButterKnifeType)\n (objectType Spatula_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__minus_01_dot_74 SpatulaType)\n (objectType Cup_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_65 CupType)\n (objectType Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 BreadType)\n (objectType Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 WindowType)\n (objectType PepperShaker_bar__plus_00_dot_17_bar__plus_00_dot_10_bar__plus_00_dot_32 PepperShakerType)\n (objectType Cup_bar__plus_00_dot_21_bar__plus_00_dot_11_bar__minus_01_dot_51 CupType)\n (objectType PaperTowelRoll_bar__plus_01_dot_97_bar__plus_01_dot_02_bar__plus_00_dot_46 PaperTowelRollType)\n (objectType Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 LettuceType)\n (objectType DishSponge_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_29 DishSpongeType)\n (objectType SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 SoapBottleType)\n (objectType Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 SpoonType)\n (objectType Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 BreadType)\n (objectType Plate_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51 PlateType)\n (objectType Mug_bar__plus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_51 MugType)\n (objectType Apple_bar__plus_01_dot_54_bar__plus_00_dot_98_bar__minus_01_dot_90 AppleType)\n (objectType Knife_bar__plus_01_dot_41_bar__plus_00_dot_94_bar__minus_01_dot_57 KnifeType)\n (objectType SaltShaker_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_90 SaltShakerType)\n (objectType StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_29 KnifeType)\n (objectType Plate_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_31 PlateType)\n (objectType Egg_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_75 EggType)\n (objectType Spatula_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_65 SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\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 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 KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType 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 SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType KettleType)\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 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 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 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 DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\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 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CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType 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 SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType 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 StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType 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 SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CoffeeMachineType MugType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\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 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(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 KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType 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 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 ForkType)\n (canContain DrawerType SpoonType)\n (canContain 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CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30)\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 SaltShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_40 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle PepperShaker_bar__plus_00_dot_17_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 Plate_bar__plus_00_dot_50_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_01_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 Fork_bar__minus_01_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_51 Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle Plate_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 Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_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_79_bar__plus_00_dot_94_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_97_bar__plus_01_dot_02_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_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_85_bar__plus_01_dot_00_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__minus_01_dot_08_bar__plus_01_dot_05_bar__minus_01_dot_80 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle Mug_bar__minus_00_dot_98_bar__plus_01_dot_01_bar__minus_01_dot_74 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle ButterKnife_bar__plus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_65 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_75 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_36_bar__plus_00_dot_10_bar__plus_00_dot_40 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_07_bar__plus_00_dot_57 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\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_98_bar__plus_01_dot_01_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_36_bar__plus_00_dot_10_bar__plus_00_dot_40 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_91_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PepperShaker_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_10_bar__plus_00_dot_11_bar__minus_01_dot_40 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_90_bar__plus_00_dot_93_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Plate_bar__plus_00_dot_50_bar__plus_00_dot_11_bar__plus_00_dot_31 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_21_bar__plus_00_dot_11_bar__minus_01_dot_51 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_41_bar__plus_00_dot_94_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Mug_bar__plus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_51 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PepperShaker_bar__minus_00_dot_54_bar__plus_00_dot_91_bar__minus_01_dot_90 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_07_bar__plus_00_dot_57 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_38_bar__plus_00_dot_78_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\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_45_bar__plus_01_dot_00_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_54 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Kettle_bar__minus_00_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_64 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_80_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_75_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_30_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_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 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_27_bar__plus_00_dot_93_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_97_bar__plus_01_dot_02_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_45_bar__plus_00_dot_81_bar__minus_01_dot_75 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_38 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_90 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation PepperShaker_bar__plus_00_dot_17_bar__plus_00_dot_10_bar__plus_00_dot_32 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_54_bar__plus_00_dot_98_bar__minus_01_dot_90 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation ButterKnife_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_46 loc_bar_1_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_08_bar__plus_01_dot_05_bar__minus_01_dot_80 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pan_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 (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_43_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_27 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PanType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 4", "take pan 1 from stoveburner 4", "go to fridge 1", "cool pan 1 with fridge 1", "go to diningtable 1", "move pan 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204347_530034/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204347_530034/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c62f458b57785c3bbf2915d12957fa1500a65f9f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pan-None-DiningTable-11/trial_T20190908_204347_530034/initial_state.pddl @@ -0,0 +1,1000 @@ + +(define (problem plan_trial_T20190908_204347_530034) +(: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 + 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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_1_bar__minus_1_bar_1_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 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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_30_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle DishSponge_bar__plus_00_dot_43_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 Bowl_bar__minus_00_dot_08_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 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 Apple_bar__plus_01_dot_54_bar__plus_00_dot_98_bar__minus_01_dot_90 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Knife_bar__plus_01_dot_41_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) + (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 Spatula_bar__minus_00_dot_27_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) + (inReceptacle Lettuce_bar__plus_01_dot_66_bar__plus_01_dot_00_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle SaltShaker_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_90 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle 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PepperShaker_bar__plus_00_dot_17_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) + (inReceptacle Plate_bar__plus_00_dot_50_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_01_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 Fork_bar__minus_01_dot_10_bar__plus_00_dot_77_bar__minus_01_dot_51 Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50) + (inReceptacle Plate_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) + (inReceptacle Knife_bar__plus_01_dot_79_bar__plus_00_dot_94_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_79_bar__plus_00_dot_94_bar__plus_00_dot_29 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", + "Pick up the fry pan on the front, left burner of the stove. ", + "Turn to your left and walk towards the end of the room, to the refrigerator on your left. ", + "Place the fry pan on the right side of the second shelf, in the refrigerator, wait a moment for it to chill, then remove the fry pan from the refrigerator. ", + "Turn around and go to the white table past the door. ", + "Place the fry pan on the table. " + ], + "task_desc": "Put a chilled fry pan on the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_37XITHEISZ05YETPQ673ZAKFQARCR5", + "high_descs": [ + "Walk to the stove and face it.", + "Pick up the frying pan from the stove.", + "Turn left and walk to the door then turn left and walk to the fridge.", + "Put the frying pan in the fridge to cool off for a moment then take it back out.", + "Turn around and walk to the table.", + "Put the frying pan down on the table." + ], + "task_desc": "Put a cool frying pan on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3MH9DQ757Z3AVI1BWMYRUCSEV1PGUP", + "high_descs": [ + "Take two steps forward then turn left to face the stove.", + "Pick up the pan that's in front of you on the front left burner.", + "Turn left and walk to the door then turn left and walk to the fridge.", + "Chill the pan in the fridge then get it back out and close the door.", + "Turn around and walk to the white table.", + "Put the pan on the white table." + ], + "task_desc": "Put a chilled pan on the table.", + "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-Plate-None-Shelf-1/trial_T20190908_012254_327150/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_012254_327150/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f6ff91f97f486b0c3f9b196c6797f0dc1ffe9db3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_012254_327150/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 plate and put it 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_012254_327150)\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_16_bar__plus_01_dot_36_bar__plus_01_dot_34 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_56 - object\n Bowl_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_18 - object\n Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 - object\n Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_01 - object\n ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n ButterKnife_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n ButterKnife_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_25 - 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__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n CreditCard_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Cup_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_56 - object\n Cup_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_48 - object\n Cup_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_25 - object\n DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59 - object\n Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_41 - object\n Egg_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_24 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Glassbottle_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n Glassbottle_bar__minus_01_dot_86_bar__plus_00_dot_14_bar__minus_01_dot_62 - object\n Glassbottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__plus_01_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_60 - object\n Knife_bar__minus_00_dot_06_bar__plus_01_dot_14_bar_00_dot_00 - object\n Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_64 - object\n Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 - object\n Lettuce_bar__minus_00_dot_20_bar__plus_01_dot_19_bar__plus_00_dot_76 - object\n Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 - object\n LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object\n Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object\n Pan_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_25 - object\n Pan_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n PaperTowelRoll_bar__plus_00_dot_36_bar__plus_01_dot_22_bar__minus_00_dot_76 - object\n PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_86 - object\n PepperShaker_bar__minus_01_dot_87_bar__plus_00_dot_47_bar__minus_00_dot_05 - object\n Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00 - object\n Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_39 - object\n Potato_bar__minus_01_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_33 - object\n Potato_bar__minus_02_dot_08_bar__plus_00_dot_57_bar__plus_01_dot_09 - object\n Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n SaltShaker_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_34 - object\n SaltShaker_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_53 - object\n SaltShaker_bar__minus_01_dot_78_bar__plus_00_dot_15_bar__minus_00_dot_10 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__minus_01_dot_82_bar__plus_00_dot_48_bar__minus_00_dot_34 - object\n SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_16 - object\n Spatula_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__minus_02_dot_41 - object\n Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_00_dot_25 - object\n Spatula_bar__minus_01_dot_14_bar__plus_00_dot_93_bar__minus_02_dot_41 - object\n Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_41 - object\n Spoon_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50 - object\n Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 - 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_00_dot_85_bar__plus_00_dot_95_bar__minus_02_dot_25 - object\n Tomato_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_02_dot_71 - object\n Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_00 - object\n Vase_bar__minus_01_dot_46_bar__plus_01_dot_66_bar__minus_02_dot_64 - object\n Vase_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_26 - object\n Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object\n WineBottle_bar__plus_00_dot_95_bar__plus_01_dot_66_bar__minus_02_dot_60 - 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__minus_5_bar_4_bar_3_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 (receptacleType 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Bowl_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_18)\n (coolable Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_01)\n (coolable Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_39)\n (coolable Lettuce_bar__minus_00_dot_20_bar__plus_01_dot_19_bar__plus_00_dot_76)\n (coolable Apple_bar__minus_02_dot_16_bar__plus_01_dot_36_bar__plus_01_dot_34)\n (coolable Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_00)\n (coolable Tomato_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_02_dot_71)\n (coolable Cup_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_48)\n (coolable Egg_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_24)\n (coolable WineBottle_bar__plus_00_dot_95_bar__plus_01_dot_66_bar__minus_02_dot_60)\n (coolable Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00)\n (coolable Bowl_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_56)\n (coolable Tomato_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__minus_02_dot_25)\n \n \n \n \n \n (sliceable Potato_bar__minus_02_dot_08_bar__plus_00_dot_57_bar__plus_01_dot_09)\n (sliceable Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (sliceable Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25)\n (sliceable Potato_bar__minus_01_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_33)\n (sliceable Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03)\n (sliceable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25)\n (sliceable Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_01)\n (sliceable Lettuce_bar__minus_00_dot_20_bar__plus_01_dot_19_bar__plus_00_dot_76)\n (sliceable Apple_bar__minus_02_dot_16_bar__plus_01_dot_36_bar__plus_01_dot_34)\n (sliceable Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_00)\n (sliceable Tomato_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_02_dot_71)\n (sliceable Egg_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_24)\n (sliceable Tomato_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__minus_02_dot_25)\n \n (inReceptacle Fork_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_52_bar__plus_01_dot_17_bar__minus_00_dot_03 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_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_06_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 ButterKnife_bar__minus_00_dot_20_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 Lettuce_bar__minus_00_dot_20_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 PaperTowelRoll_bar__plus_00_dot_36_bar__plus_01_dot_22_bar__minus_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_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Pan_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 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 Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_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 Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_39 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97)\n (inReceptacle Glassbottle_bar__minus_01_dot_86_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 CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Kettle_bar__plus_01_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_60 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Pan_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle CreditCard_bar__plus_00_dot_45_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 ButterKnife_bar__plus_00_dot_97_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 Spatula_bar__plus_00_dot_58_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 CreditCard_bar__plus_00_dot_71_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 Spoon_bar__plus_00_dot_97_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 Pan_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 Cup_bar__minus_01_dot_72_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 SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_16 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38)\n (inReceptacle Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58)\n (inReceptacle SaltShaker_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_53 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle SoapBottle_bar__minus_01_dot_82_bar__plus_00_dot_48_bar__minus_00_dot_34 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20)\n (inReceptacle PepperShaker_bar__minus_01_dot_87_bar__plus_00_dot_47_bar__minus_00_dot_05 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20)\n (inReceptacle Vase_bar__minus_01_dot_46_bar__plus_01_dot_66_bar__minus_02_dot_64 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle SaltShaker_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_34 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle WineBottle_bar__plus_00_dot_95_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle SaltShaker_bar__minus_01_dot_78_bar__plus_00_dot_15_bar__minus_00_dot_10 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\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_01_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_33 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Tomato_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_02_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_64 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle ButterKnife_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Vase_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Spatula_bar__minus_01_dot_14_bar__plus_00_dot_93_bar__minus_02_dot_41 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Tomato_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__minus_02_dot_25 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Cup_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Cup_bar__plus_01_dot_48_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 Bowl_bar__plus_01_dot_79_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__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56)\n (inReceptacle Apple_bar__minus_02_dot_16_bar__plus_01_dot_36_bar__plus_01_dot_34 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Potato_bar__minus_02_dot_08_bar__plus_00_dot_57_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Bowl_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_18 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17)\n (inReceptacle Spoon_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 Glassbottle_bar__minus_01_dot_85_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 (inReceptacle Egg_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_24 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_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 DishSponge_bar__minus_02_dot_02_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 \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_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 ButterKnife_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_87_bar__plus_00_dot_47_bar__minus_00_dot_05 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_53 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Spatula_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_71_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_85_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Pan_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 SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_16 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Glassbottle_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Glassbottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_20_bar__plus_01_dot_19_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_34 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_25 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\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_86_bar__plus_00_dot_14_bar__minus_01_dot_62 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_06_bar__plus_01_dot_14_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_01 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Fork_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 Potato_bar__minus_02_dot_08_bar__plus_00_dot_57_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_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__minus_01_dot_82_bar__plus_00_dot_48_bar__minus_00_dot_34 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_60 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pan_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 Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_39 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_02_dot_71 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_46_bar__plus_01_dot_66_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Egg_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 loc_bar_7_bar__minus_8_bar_2_bar_60)\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_00_dot_95_bar__plus_01_dot_66_bar__minus_02_dot_60 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_14_bar__plus_00_dot_93_bar__minus_02_dot_41 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_36_bar__plus_01_dot_22_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Vase_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_18 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_78_bar__plus_00_dot_15_bar__minus_00_dot_10 loc_bar__minus_4_bar_3_bar_2_bar_60)\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__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_16_bar__plus_01_dot_36_bar__plus_01_dot_34 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_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__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_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 PlateType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take plate 1 from countertop 3", "go to fridge 1", "cool plate 1 with fridge 1", "go to shelf 2", "move plate 1 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_012254_327150/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_012254_327150/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8f22d0e91114e1171ceba1a20cbdc15845990692 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_012254_327150/initial_state.pddl @@ -0,0 +1,1238 @@ + +(define (problem plan_trial_T20190908_012254_327150) +(: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_16_bar__plus_01_dot_36_bar__plus_01_dot_34 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_56 - object + Bowl_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_18 - object + Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 - object + Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_01 - object + ButterKnife_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + ButterKnife_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + ButterKnife_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_25 - 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_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + CreditCard_bar__plus_00_dot_71_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Cup_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_56 - object + Cup_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_48 - object + Cup_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_25 - object + DishSponge_bar__minus_02_dot_02_bar__plus_00_dot_77_bar__minus_01_dot_59 - object + Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_41 - object + Egg_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_24 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Glassbottle_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_33 - object + Glassbottle_bar__minus_01_dot_86_bar__plus_00_dot_14_bar__minus_01_dot_62 - object + Glassbottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__plus_01_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_60 - object + Knife_bar__minus_00_dot_06_bar__plus_01_dot_14_bar_00_dot_00 - object + Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_64 - object + Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 - object + Lettuce_bar__minus_00_dot_20_bar__plus_01_dot_19_bar__plus_00_dot_76 - object + Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object + Pan_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + Pan_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + PaperTowelRoll_bar__plus_00_dot_36_bar__plus_01_dot_22_bar__minus_00_dot_76 - object + PepperShaker_bar__minus_01_dot_81_bar__plus_00_dot_13_bar__minus_01_dot_86 - object + PepperShaker_bar__minus_01_dot_87_bar__plus_00_dot_47_bar__minus_00_dot_05 - object + Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00 - object + Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_39 - object + Potato_bar__minus_01_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_33 - object + Potato_bar__minus_02_dot_08_bar__plus_00_dot_57_bar__plus_01_dot_09 - object + Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + 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Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17) + (cleanable Kettle_bar__plus_01_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_60) + (cleanable Spoon_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50) + (cleanable Bowl_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_18) + (cleanable Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_39) + (cleanable ButterKnife_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_25) + (cleanable Lettuce_bar__minus_00_dot_20_bar__plus_01_dot_19_bar__plus_00_dot_76) + (cleanable Apple_bar__minus_02_dot_16_bar__plus_01_dot_36_bar__plus_01_dot_34) + (cleanable Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_00) + (cleanable Tomato_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_02_dot_71) + (cleanable Cup_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_48) + (cleanable ButterKnife_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51) + (cleanable Egg_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_24) + (cleanable Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00) + (cleanable Spatula_bar__minus_01_dot_14_bar__plus_00_dot_93_bar__minus_02_dot_41) + (cleanable Bowl_bar__plus_01_dot_79_bar__plus_00_dot_88_bar__minus_02_dot_56) + (cleanable Spoon_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_41) + (cleanable Tomato_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__minus_02_dot_25) + + (heatable Cup_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_56) + (heatable Potato_bar__minus_02_dot_08_bar__plus_00_dot_57_bar__plus_01_dot_09) + (heatable Cup_bar__minus_01_dot_72_bar__plus_00_dot_13_bar__plus_00_dot_25) + (heatable Egg_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_41) + (heatable Potato_bar__minus_01_dot_44_bar__plus_00_dot_94_bar__minus_02_dot_33) + (heatable Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03) + (heatable Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17) + (heatable Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_01) + (heatable Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_39) + (heatable Apple_bar__minus_02_dot_16_bar__plus_01_dot_36_bar__plus_01_dot_34) + (heatable Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_00) + (heatable Tomato_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_02_dot_71) + (heatable Cup_bar__minus_00_dot_23_bar__plus_01_dot_79_bar__minus_02_dot_48) + (heatable Egg_bar__minus_01_dot_91_bar__plus_00_dot_80_bar__minus_01_dot_24) + (heatable Plate_bar__plus_00_dot_36_bar__plus_01_dot_11_bar_00_dot_00) + (heatable Tomato_bar__minus_00_dot_85_bar__plus_00_dot_95_bar__minus_02_dot_25) + (coolable Cup_bar__plus_01_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_56) + (coolable Pan_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58) + (coolable 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Fork_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 Bread_bar__minus_00_dot_52_bar__plus_01_dot_17_bar__minus_00_dot_03 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Knife_bar__minus_00_dot_06_bar__plus_01_dot_14_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle ButterKnife_bar__minus_00_dot_20_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 Lettuce_bar__minus_00_dot_20_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 PaperTowelRoll_bar__plus_00_dot_36_bar__plus_01_dot_22_bar__minus_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_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Pan_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) + (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 Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (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) + (inReceptacle Plate_bar__minus_01_dot_76_bar__plus_00_dot_13_bar__minus_01_dot_39 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97) + (inReceptacle Glassbottle_bar__minus_01_dot_86_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) + (inReceptacle CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Kettle_bar__plus_01_dot_04_bar__plus_00_dot_90_bar__minus_02_dot_60 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Pan_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle CreditCard_bar__plus_00_dot_45_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) + (inReceptacle 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SoapBottle_bar__minus_01_dot_91_bar__plus_00_dot_13_bar__plus_00_dot_16 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38) + (inReceptacle Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58) + (inReceptacle SaltShaker_bar__minus_00_dot_84_bar__plus_01_dot_65_bar__minus_02_dot_53 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle SoapBottle_bar__minus_01_dot_82_bar__plus_00_dot_48_bar__minus_00_dot_34 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20) + (inReceptacle PepperShaker_bar__minus_01_dot_87_bar__plus_00_dot_47_bar__minus_00_dot_05 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20) + (inReceptacle Vase_bar__minus_01_dot_46_bar__plus_01_dot_66_bar__minus_02_dot_64 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle 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Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Bowl_bar__minus_02_dot_12_bar__plus_01_dot_50_bar__plus_01_dot_18 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Bread_bar__minus_02_dot_07_bar__plus_01_dot_38_bar__plus_01_dot_01 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Tomato_bar__minus_02_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17) + (inReceptacle Spoon_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) + (inReceptacle Glassbottle_bar__minus_01_dot_85_bar__plus_00_dot_77_bar__minus_01_dot_33 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then out the fridge then close the fridge", + "Walk to your left.walk straight then left walk few steps then face the shelf on your right", + "Put the plate on the shelf" + ], + "task_desc": "Put the chilled plate on the shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3RSDURM96D3L7O3R4KGBW8TDKNBEYP", + "high_descs": [ + "turn around and move to the table", + "pick up a plate from the table", + "move ahead to the fridge", + "cool the plate in the fridge", + "turn around and head for the shelf", + "place a cold plate on the shelf" + ], + "task_desc": "place a cold plate on the shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3ZAZR5XV04Z6FGTI4FCZKR2C55KCZ3", + "high_descs": [ + "move to the island behind you", + "pick up a plate from the island", + "move to the fridge ahead of you", + "chill the plate for a moment in the fridge", + "move to the wooden shelf to the left of the stove", + "put the plate on the shelf" + ], + "task_desc": "Put a chilled plate on the wooden shelf.", + "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-Plate-None-Shelf-1/trial_T20190908_075027_183662/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_075027_183662/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a553df2161a229c12812b173e078d4e657f3d46c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_075027_183662/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 plate and put it 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_075027_183662)\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_28_bar__plus_01_dot_84_bar__minus_02_dot_61 - object\n Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_01_dot_93 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__minus_01_dot_40_bar__plus_01_dot_65_bar__minus_02_dot_64 - object\n Bowl_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n Bowl_bar__minus_02_dot_04_bar__plus_00_dot_54_bar__plus_01_dot_25 - object\n Bread_bar__plus_00_dot_22_bar__plus_01_dot_18_bar__minus_00_dot_51 - object\n ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n ButterKnife_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__minus_02_dot_38 - 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__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 - object\n CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_20 - object\n Cup_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_61 - object\n DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_14_bar__minus_01_dot_39 - object\n Egg_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_89 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object\n Glassbottle_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Glassbottle_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_67 - object\n Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_08 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n Knife_bar__minus_00_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_25 - object\n Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_06 - object\n Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_19_bar__minus_00_dot_25 - object\n Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50 - object\n LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object\n Mug_bar__minus_02_dot_02_bar__plus_00_dot_76_bar__minus_01_dot_59 - object\n Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object\n Pan_bar__minus_01_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_45 - object\n PaperTowelRoll_bar__minus_01_dot_86_bar__plus_01_dot_02_bar__minus_02_dot_15 - object\n PepperShaker_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_53 - object\n PepperShaker_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_72 - object\n Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar_00_dot_00 - object\n Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_58 - object\n Potato_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_00_dot_88 - object\n Potato_bar__minus_02_dot_04_bar__plus_01_dot_53_bar__plus_01_dot_26 - object\n Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 - object\n SaltShaker_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_46 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__plus_00_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_56 - object\n Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_51 - object\n Spatula_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__minus_02_dot_41 - object\n Spatula_bar__minus_01_dot_85_bar__plus_00_dot_78_bar__minus_01_dot_50 - object\n Spoon_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_33 - object\n Statue_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n Statue_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_25 - 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__plus_00_dot_22_bar__plus_01_dot_15_bar__minus_00_dot_25 - object\n Vase_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Vase_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object\n WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 - object\n WineBottle_bar__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_53 - 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_5_bar__minus_7_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_4_bar_7_bar_3_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 (receptacleType CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 CounterTopType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 CoffeeMachineType)\n (receptacleType Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 ToasterType)\n (receptacleType CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 CounterTopType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 ShelfType)\n (receptacleType Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 MicrowaveType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 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CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle Spoon_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58)\n (inReceptacle WineBottle_bar__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_53 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Bowl_bar__minus_01_dot_40_bar__plus_01_dot_65_bar__minus_02_dot_64 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Pan_bar__minus_01_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_45 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle 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Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_06 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Spatula_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__minus_02_dot_41 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Potato_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_00_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_86_bar__plus_01_dot_02_bar__minus_02_dot_15 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Cup_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_58 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\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 SaltShaker_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_46 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Glassbottle_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_67 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Glassbottle_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_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_89 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacleObject Spatula_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__minus_02_dot_41 Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36)\n (inReceptacle Potato_bar__minus_02_dot_04_bar__plus_01_dot_53_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Bowl_bar__minus_02_dot_04_bar__plus_00_dot_54_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Spatula_bar__minus_01_dot_85_bar__plus_00_dot_78_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 Mug_bar__minus_02_dot_02_bar__plus_00_dot_76_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 Bowl_bar__minus_01_dot_96_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 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loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 loc_bar_7_bar__minus_7_bar_3_bar_45)\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 Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_00_dot_88 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_06 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Glassbottle_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 Bowl_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation 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Vase_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_89 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_20 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\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__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_53 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_86_bar__plus_01_dot_02_bar__minus_02_dot_15 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_61 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Vase_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_40_bar__plus_01_dot_65_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_46 loc_bar_5_bar__minus_6_bar_2_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__plus_00_dot_08_bar__plus_01_dot_19_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__minus_02_dot_38 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_01_dot_93 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_14_bar__minus_01_dot_39 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_33 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__minus_02_dot_02_bar__plus_00_dot_76_bar__minus_01_dot_59 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take plate 1 from countertop 3", "go to fridge 1", "cool plate 1 with fridge 1", "go to shelf 2", "move plate 1 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_075027_183662/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_075027_183662/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e2a9c800d21f633f9d4e8234f2208ea63f3ec8c5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_075027_183662/initial_state.pddl @@ -0,0 +1,1185 @@ + +(define (problem plan_trial_T20190908_075027_183662) +(: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_28_bar__plus_01_dot_84_bar__minus_02_dot_61 - object + Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_01_dot_93 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__minus_01_dot_40_bar__plus_01_dot_65_bar__minus_02_dot_64 - object + Bowl_bar__minus_01_dot_96_bar__plus_00_dot_77_bar__minus_01_dot_33 - object + Bowl_bar__minus_02_dot_04_bar__plus_00_dot_54_bar__plus_01_dot_25 - object + Bread_bar__plus_00_dot_22_bar__plus_01_dot_18_bar__minus_00_dot_51 - object + ButterKnife_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + ButterKnife_bar__plus_00_dot_89_bar__plus_00_dot_14_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_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 - object + CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_20 - object + Cup_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_61 - object + DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_14_bar__minus_01_dot_39 - object + Egg_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_89 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object + Glassbottle_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Glassbottle_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_67 - object + Glassbottle_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_08 - 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_37 - 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_58 - object + Knife_bar__minus_00_dot_34_bar__plus_01_dot_14_bar__plus_00_dot_25 - object + Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_06 - object + Lettuce_bar__plus_00_dot_08_bar__plus_01_dot_19_bar__minus_00_dot_25 - object + Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__minus_02_dot_02_bar__plus_00_dot_76_bar__minus_01_dot_59 - object + Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object + Pan_bar__minus_01_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_45 - object + PaperTowelRoll_bar__minus_01_dot_86_bar__plus_01_dot_02_bar__minus_02_dot_15 - object + PepperShaker_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_53 - object + PepperShaker_bar__plus_02_dot_10_bar__plus_00_dot_55_bar__minus_02_dot_72 - object + Plate_bar__minus_00_dot_20_bar__plus_01_dot_11_bar_00_dot_00 - object + Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_58 - object + Potato_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_00_dot_88 - object + Potato_bar__minus_02_dot_04_bar__plus_01_dot_53_bar__plus_01_dot_26 - object + Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 - object + SaltShaker_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_46 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__plus_00_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_56 - object + Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_51 - object + Spatula_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__minus_02_dot_41 - object + Spatula_bar__minus_01_dot_85_bar__plus_00_dot_78_bar__minus_01_dot_50 - object + Spoon_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_33 - object + Statue_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + Statue_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_25 - 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_22_bar__plus_01_dot_15_bar__minus_00_dot_25 - object + Vase_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Vase_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 - object + WineBottle_bar__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_53 - 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 + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 - receptacle + Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 - receptacle + GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 - receptacle + Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 - receptacle + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle + StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle + StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle + StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle + Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 - receptacle + loc_bar_1_bar__minus_7_bar_1_bar_45 - location + loc_bar__minus_5_bar_2_bar_3_bar__minus_30 - location + loc_bar_7_bar__minus_5_bar_2_bar_30 - location + loc_bar_7_bar__minus_7_bar_3_bar_45 - location + 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_5_bar__minus_7_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 + 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StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58) + (inReceptacle CreditCard_bar__plus_00_dot_78_bar__plus_00_dot_64_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20) + (inReceptacle Spoon_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_33 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20) + (inReceptacle Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58) + (inReceptacle WineBottle_bar__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_53 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_40_bar__plus_01_dot_65_bar__minus_02_dot_64 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Pan_bar__minus_01_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_45 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle ButterKnife_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20) + (inReceptacle CreditCard_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_20 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle SoapBottle_bar__plus_00_dot_34_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) + (inReceptacle PepperShaker_bar__plus_00_dot_45_bar__plus_01_dot_66_bar__minus_02_dot_53 Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Vase_bar__minus_01_dot_44_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 Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_06 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Spatula_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__minus_02_dot_41 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Potato_bar__minus_01_dot_77_bar__plus_00_dot_94_bar__minus_00_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_86_bar__plus_01_dot_02_bar__minus_02_dot_15 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Cup_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Potato_bar__minus_00_dot_07_bar__plus_01_dot_82_bar__minus_02_dot_58 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (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) + (inReceptacle SaltShaker_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_46 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Glassbottle_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_67 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Glassbottle_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) + (inReceptacle Egg_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_89 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle Apple_bar__minus_01_dot_96_bar__plus_00_dot_10_bar__plus_01_dot_93 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacleObject Spatula_bar__minus_01_dot_00_bar__plus_00_dot_93_bar__minus_02_dot_41 Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36) + (inReceptacle Potato_bar__minus_02_dot_04_bar__plus_01_dot_53_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Bowl_bar__minus_02_dot_04_bar__plus_00_dot_54_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Spatula_bar__minus_01_dot_85_bar__plus_00_dot_78_bar__minus_01_dot_50 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Mug_bar__minus_02_dot_02_bar__plus_00_dot_76_bar__minus_01_dot_59 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Bowl_bar__minus_01_dot_96_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) + + + (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) + (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) + (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) + (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) + (receptacleAtLocation 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Close the door, wait a moment, and then take the plate out again.", + "Turn left and walk along the entire length of the counter to the shelves in the corner of the room.", + "Place the plate on the shelf with the shaker, to the left of the shaker." + ], + "task_desc": "Place a chilled plate on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3K4J6M3CXHAIVK1FU9SJTPWIUB4GAD", + "high_descs": [ + "turn left towards the table", + "pick up the plate", + "turn around towards the fridge", + "place the plate in the fridge to cool and then take it out", + "turn around and locate the shelf", + "place the plate on the shelf" + ], + "task_desc": "place a cold plate on the shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3K5TEWLKGYSGJZA8VSJIAONBUZDVI3", + "high_descs": [ + "Go forward, and then left to go around to the island.", + "Pick up the plate from the center of the island.", + "Hold the plate and turn around to the fridge on the right side.", + "Open the fridge and place the plate inside. Shut the door and then open it. Take the plate out and shut the door.", + "Carry the plate and turn left and then left again. Locate the brown shelf on the right.", + "Place the plate on the next to bottom shelf." + ], + "task_desc": "Chill a plate and place it on a shelf.", + "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-Plate-None-Shelf-1/trial_T20190908_224123_748784/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_224123_748784/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a3fa2084e9763cea44aeafce19aaa915622be601 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_224123_748784/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 plate and put it 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_224123_748784)\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_03_bar__plus_01_dot_36_bar__plus_01_dot_18 - object\n Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09 - object\n Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 - object\n Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Bowl_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 - object\n Bowl_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 - object\n Bowl_bar__minus_02_dot_11_bar__plus_01_dot_31_bar__plus_00_dot_93 - object\n Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_76 - object\n ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_50 - 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__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_51 - object\n CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_56 - object\n Cup_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_40 - object\n Cup_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 - object\n Cup_bar__minus_02_dot_00_bar__plus_00_dot_22_bar__plus_01_dot_00 - object\n DishSponge_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n DishSponge_bar__minus_01_dot_83_bar__plus_00_dot_15_bar__minus_00_dot_25 - object\n Egg_bar__plus_00_dot_71_bar__plus_00_dot_95_bar__minus_02_dot_25 - object\n Egg_bar__minus_00_dot_23_bar__plus_01_dot_83_bar__minus_02_dot_61 - object\n Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_58 - 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_06_bar__plus_00_dot_65_bar__minus_02_dot_42 - object\n Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Glassbottle_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_25 - object\n Knife_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_76 - object\n Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 - object\n Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_25 - object\n Lettuce_bar__minus_01_dot_94_bar__plus_00_dot_99_bar__minus_00_dot_70 - object\n LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object\n Mug_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n Mug_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_48 - object\n Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object\n PaperTowelRoll_bar__plus_01_dot_58_bar__plus_00_dot_66_bar__minus_02_dot_72 - object\n PepperShaker_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_76 - object\n Plate_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Plate_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Plate_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_51 - object\n Potato_bar__minus_02_dot_00_bar__plus_00_dot_57_bar__plus_01_dot_33 - 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_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 - object\n SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_14_bar__minus_02_dot_34 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_57 - object\n Spatula_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__minus_02_dot_41 - object\n Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_25 - object\n Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_67 - object\n Spoon_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n Spoon_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 - object\n Spoon_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50 - object\n Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 - 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_34_bar__plus_00_dot_14_bar__minus_02_dot_44 - object\n Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 - object\n Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object\n WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 - object\n WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 - 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__minus_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_60 - location\n loc_bar_0_bar__minus_7_bar_2_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__minus_5_bar__minus_7_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 (receptacleType CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 CounterTopType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 CoffeeMachineType)\n (receptacleType Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 ToasterType)\n (receptacleType CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 CounterTopType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 ShelfType)\n (receptacleType Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 MicrowaveType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 CounterTopType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 ShelfType)\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 StoveBurnerType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 DrawerType)\n (receptacleType Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 FridgeType)\n (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 StoveBurnerType)\n (objectType Kettle_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_33 KettleType)\n (objectType Cup_bar__minus_02_dot_00_bar__plus_00_dot_22_bar__plus_01_dot_00 CupType)\n (objectType ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_50 ButterKnifeType)\n (objectType Egg_bar__minus_00_dot_23_bar__plus_01_dot_83_bar__minus_02_dot_61 EggType)\n (objectType Cup_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_40 CupType)\n (objectType StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 StoveKnobType)\n (objectType Lettuce_bar__minus_01_dot_94_bar__plus_00_dot_99_bar__minus_00_dot_70 LettuceType)\n (objectType Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 ChairType)\n (objectType PaperTowelRoll_bar__plus_01_dot_58_bar__plus_00_dot_66_bar__minus_02_dot_72 PaperTowelRollType)\n (objectType Potato_bar__minus_02_dot_00_bar__plus_00_dot_57_bar__plus_01_dot_33 PotatoType)\n (objectType WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 WineBottleType)\n (objectType Bowl_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 BowlType)\n (objectType Bowl_bar__minus_02_dot_11_bar__plus_01_dot_31_bar__plus_00_dot_93 BowlType)\n (objectType Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_56 ChairType)\n (objectType Plate_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51 PlateType)\n (objectType Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 LettuceType)\n (objectType PepperShaker_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_76 PepperShakerType)\n (objectType Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_25 KnifeType)\n (objectType HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 HousePlantType)\n (objectType Fork_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_42 ForkType)\n (objectType Spoon_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_02_dot_48 SpoonType)\n (objectType Bowl_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 BowlType)\n (objectType Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 PotType)\n (objectType Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_50 TomatoType)\n (objectType Spatula_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__minus_02_dot_41 SpatulaType)\n (objectType Egg_bar__plus_00_dot_71_bar__plus_00_dot_95_bar__minus_02_dot_25 EggType)\n (objectType Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_51 BookType)\n (objectType Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 SinkType)\n (objectType Glassbottle_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 GlassbottleType)\n (objectType DishSponge_bar__minus_01_dot_83_bar__plus_00_dot_15_bar__minus_00_dot_25 DishSpongeType)\n (objectType StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 StoveKnobType)\n (objectType Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_58 EggType)\n (objectType Plate_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_51 PlateType)\n (objectType Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09 AppleType)\n (objectType Spoon_bar__minus_01_dot_80_bar__plus_00_dot_77_bar__minus_01_dot_33 SpoonType)\n (objectType StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 StoveKnobType)\n (objectType Spoon_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_50 SpoonType)\n (objectType Mug_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_48 MugType)\n (objectType Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 PotType)\n (objectType Cup_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 CupType)\n (objectType Plate_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_33 PlateType)\n (objectType WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 WineBottleType)\n (objectType Vase_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_44 VaseType)\n (objectType Knife_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_76 KnifeType)\n (objectType Apple_bar__minus_02_dot_03_bar__plus_01_dot_36_bar__plus_01_dot_18 AppleType)\n (objectType CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_56 CreditCardType)\n (objectType Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 PanType)\n (objectType Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 StatueType)\n (objectType DishSponge_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76 DishSpongeType)\n (objectType Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 VaseType)\n (objectType LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 LightSwitchType)\n (objectType Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 WindowType)\n (objectType Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_67 SpatulaType)\n (objectType Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 ForkType)\n (objectType Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_76 BreadType)\n (objectType Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_25 LettuceType)\n (objectType StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 StoveKnobType)\n (objectType CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_51 CreditCardType)\n (objectType Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 PotType)\n (objectType Mug_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 MugType)\n (objectType SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_14_bar__minus_02_dot_34 SaltShakerType)\n (objectType Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_25 SpatulaType)\n (objectType SoapBottle_bar__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_57 SoapBottleType)\n (objectType Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 BookType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType BookType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType VaseType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\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 ShelfType SaltShakerType)\n (canContain ShelfType BookType)\n (canContain ShelfType DishSpongeType)\n (canContain ShelfType BowlType)\n (canContain ShelfType KettleType)\n (canContain ShelfType PotType)\n (canContain ShelfType 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BookType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType VaseType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\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 GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType WineBottleType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType 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Plate_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_33)\n (cleanable Knife_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_76)\n (cleanable Apple_bar__minus_02_dot_03_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (cleanable Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42)\n (cleanable DishSponge_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__minus_00_dot_76)\n (cleanable Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_67)\n (cleanable Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25)\n (cleanable Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_25)\n (cleanable Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58)\n (cleanable Mug_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25)\n (cleanable Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_25)\n \n (heatable Cup_bar__minus_02_dot_00_bar__plus_00_dot_22_bar__plus_01_dot_00)\n (heatable Egg_bar__minus_00_dot_23_bar__plus_01_dot_83_bar__minus_02_dot_61)\n (heatable Cup_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_40)\n (heatable Potato_bar__minus_02_dot_00_bar__plus_00_dot_57_bar__plus_01_dot_33)\n (heatable Plate_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51)\n (heatable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_50)\n (heatable Egg_bar__plus_00_dot_71_bar__plus_00_dot_95_bar__minus_02_dot_25)\n (heatable Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_58)\n (heatable Plate_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_51)\n (heatable Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09)\n (heatable Mug_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_48)\n (heatable Cup_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24)\n (heatable Plate_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_33)\n (heatable Apple_bar__minus_02_dot_03_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (heatable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_76)\n (heatable Mug_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25)\n (coolable Cup_bar__minus_02_dot_00_bar__plus_00_dot_22_bar__plus_01_dot_00)\n (coolable Egg_bar__minus_00_dot_23_bar__plus_01_dot_83_bar__minus_02_dot_61)\n (coolable Cup_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_40)\n (coolable Lettuce_bar__minus_01_dot_94_bar__plus_00_dot_99_bar__minus_00_dot_70)\n (coolable Potato_bar__minus_02_dot_00_bar__plus_00_dot_57_bar__plus_01_dot_33)\n (coolable WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00)\n (coolable Bowl_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35)\n (coolable Bowl_bar__minus_02_dot_11_bar__plus_01_dot_31_bar__plus_00_dot_93)\n (coolable Plate_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51)\n (coolable Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25)\n (coolable Bowl_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56)\n (coolable Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00)\n (coolable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_50)\n (coolable Egg_bar__plus_00_dot_71_bar__plus_00_dot_95_bar__minus_02_dot_25)\n (coolable Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_58)\n (coolable Plate_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_51)\n (coolable Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09)\n (coolable Mug_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_48)\n (coolable Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37)\n (coolable Cup_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24)\n (coolable Plate_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_33)\n (coolable WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12)\n (coolable Apple_bar__minus_02_dot_03_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (coolable Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42)\n (coolable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_76)\n (coolable Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_25)\n (coolable Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58)\n (coolable Mug_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25)\n \n \n \n \n \n (sliceable Egg_bar__minus_00_dot_23_bar__plus_01_dot_83_bar__minus_02_dot_61)\n (sliceable Lettuce_bar__minus_01_dot_94_bar__plus_00_dot_99_bar__minus_00_dot_70)\n (sliceable Potato_bar__minus_02_dot_00_bar__plus_00_dot_57_bar__plus_01_dot_33)\n (sliceable Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25)\n (sliceable Tomato_bar__minus_01_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_50)\n (sliceable Egg_bar__plus_00_dot_71_bar__plus_00_dot_95_bar__minus_02_dot_25)\n (sliceable Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_58)\n (sliceable Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09)\n (sliceable Apple_bar__minus_02_dot_03_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (sliceable Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_76)\n (sliceable Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_25)\n \n (inReceptacle Pot_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle PepperShaker_bar__plus_00_dot_36_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 Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Fork_bar__minus_00_dot_06_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 Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_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_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_50 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle WineBottle_bar__plus_00_dot_08_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 DishSponge_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)\n (inReceptacle Book_bar__minus_00_dot_34_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 Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Plate_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 Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_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_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Spatula_bar__plus_00_dot_58_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 Egg_bar__plus_00_dot_71_bar__plus_00_dot_95_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 Glassbottle_bar__plus_00_dot_45_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 Mug_bar__plus_00_dot_97_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 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 Fork_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_42 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle SoapBottle_bar__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_57 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Vase_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_44 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_14_bar__minus_02_dot_34 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle Cup_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_40 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle Bowl_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle DishSponge_bar__minus_01_dot_83_bar__plus_00_dot_15_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle Plate_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Kettle_bar__minus_00_dot_85_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 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 Plate_bar__minus_01_dot_14_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 Lettuce_bar__minus_01_dot_94_bar__plus_00_dot_99_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Spoon_bar__minus_01_dot_73_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)\n (inReceptacle Bowl_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Egg_bar__minus_00_dot_33_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 Egg_bar__minus_00_dot_23_bar__plus_01_dot_83_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Mug_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_58_bar__plus_00_dot_66_bar__minus_02_dot_72 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_56 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacleObject Spatula_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__minus_02_dot_41 Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42)\n (inReceptacle WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56)\n (inReceptacle Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Cup_bar__minus_02_dot_00_bar__plus_00_dot_22_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Potato_bar__minus_02_dot_00_bar__plus_00_dot_57_bar__plus_01_dot_33 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Apple_bar__minus_02_dot_03_bar__plus_01_dot_36_bar__plus_01_dot_18 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_31_bar__plus_00_dot_93 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Spoon_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 (inReceptacle Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_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 Cup_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 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_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 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 \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_17_bar__plus_01_dot_79_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Spoon_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 DishSponge_bar__minus_01_dot_83_bar__plus_00_dot_15_bar__minus_00_dot_25 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_94_bar__plus_00_dot_99_bar__minus_00_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_11_bar__plus_01_dot_31_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_00_bar__plus_00_dot_22_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_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 WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 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_51 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_58 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Plate_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 Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_76 loc_bar__minus_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pot_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 Spatula_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spoon_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 Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Egg_bar__plus_00_dot_71_bar__plus_00_dot_95_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\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__minus_00_dot_51 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__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_36_bar__plus_01_dot_14_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bread_bar__plus_00_dot_08_bar__plus_01_dot_18_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_42 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_00_bar__plus_00_dot_57_bar__plus_01_dot_33 loc_bar__minus_4_bar_4_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__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_57 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Kettle_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\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_14_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\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__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_23_bar__plus_01_dot_83_bar__minus_02_dot_61 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_56 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 loc_bar_7_bar__minus_8_bar_2_bar_60)\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__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_67 loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_58_bar__plus_00_dot_66_bar__minus_02_dot_72 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_44 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_14_bar__minus_02_dot_34 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_50 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_02_dot_03_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation DishSponge_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 Spoon_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_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_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_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 PlateType)\n (receptacleType ?r ShelfType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take plate 1 from countertop 3", "go to fridge 1", "cool plate 1 with fridge 1", "go to shelf 2", "move plate 1 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_224123_748784/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_224123_748784/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..70446d9142c09dd862efb0b9b08baa0bd5e4fb9f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Plate-None-Shelf-1/trial_T20190908_224123_748784/initial_state.pddl @@ -0,0 +1,1236 @@ + +(define (problem plan_trial_T20190908_224123_748784) +(: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_03_bar__plus_01_dot_36_bar__plus_01_dot_18 - object + Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09 - object + Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 - object + Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_51 - 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Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Plate_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) + (inReceptacle Spatula_bar__minus_00_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Book_bar__minus_00_dot_34_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) + (inReceptacle Spatula_bar__plus_00_dot_58_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) + (inReceptacle Egg_bar__plus_00_dot_71_bar__plus_00_dot_95_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (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) + (inReceptacle Glassbottle_bar__plus_00_dot_45_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) + (inReceptacle Mug_bar__plus_00_dot_97_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) + (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) + (inReceptacle Fork_bar__plus_01_dot_06_bar__plus_00_dot_65_bar__minus_02_dot_42 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20) + (inReceptacle SoapBottle_bar__minus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_57 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Vase_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_44 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_14_bar__minus_02_dot_34 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle Cup_bar__minus_00_dot_91_bar__plus_00_dot_13_bar__minus_02_dot_40 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle Bowl_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle DishSponge_bar__minus_01_dot_83_bar__plus_00_dot_15_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle Plate_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Kettle_bar__minus_00_dot_85_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) + (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 Plate_bar__minus_01_dot_14_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) + (inReceptacle Lettuce_bar__minus_01_dot_94_bar__plus_00_dot_99_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Spoon_bar__minus_01_dot_73_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 Bowl_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Egg_bar__minus_00_dot_33_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 Egg_bar__minus_00_dot_23_bar__plus_01_dot_83_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle Mug_bar__minus_00_dot_17_bar__plus_01_dot_79_bar__minus_02_dot_48 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53) + (inReceptacle CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_58_bar__plus_00_dot_66_bar__minus_02_dot_72 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_55_bar__minus_02_dot_56 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacle Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56) + (inReceptacleObject Spatula_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__minus_02_dot_41 Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42) + (inReceptacle WineBottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_12 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56) + (inReceptacle Apple_bar__minus_02_dot_12_bar__plus_00_dot_59_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Cup_bar__minus_02_dot_00_bar__plus_00_dot_22_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Potato_bar__minus_02_dot_00_bar__plus_00_dot_57_bar__plus_01_dot_33 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Pot_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Apple_bar__minus_02_dot_03_bar__plus_01_dot_36_bar__plus_01_dot_18 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Bowl_bar__minus_02_dot_11_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) + (inReceptacle Spoon_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) + (inReceptacle Spatula_bar__minus_02_dot_02_bar__plus_00_dot_78_bar__minus_01_dot_67 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Cup_bar__minus_01_dot_91_bar__plus_00_dot_77_bar__minus_01_dot_24 Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin) + (inReceptacle Spoon_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) + (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) + + + (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) + (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) + (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) + (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) + (receptacleAtLocation Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 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loc_bar_3_bar_0_bar_3_bar_30) + (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) + (objectAtLocation WineBottle_bar__plus_00_dot_08_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation CreditCard_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_51 loc_bar_7_bar__minus_5_bar_2_bar_30) + (objectAtLocation Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_58 loc_bar__minus_1_bar__minus_7_bar_2_bar_0) + (objectAtLocation Plate_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation Knife_bar__minus_01_dot_85_bar__plus_00_dot_80_bar__minus_01_dot_76 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__plus_00_dot_76 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"trial_T20190908_224123_748784", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_3AZHRG4CU71L0VR97SO6LPVWHKN03Y", + "high_descs": [ + "Turn right to face the counter.", + "Pick up the plate on the counter. ", + "Turn around, bring the plate to the fridge. ", + "Chill the plate in the fridge. ", + "Take the chilled plate from the fridge, bring it across the kitchen to the opposite corner, by the wooden rack. ", + "Put the chilled plate on the wooden rack. " + ], + "task_desc": "Put a chilled plate on the wooden rack. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3E47SOBEYTDKKQ484BODKWZM9SKICE", + "high_descs": [ + "Turn to your right face the counter ", + "Pick up the plate beside the kettle", + "Turn around to your right then walk forward head to the fridge on your left", + "Open the fridge chill the plate and put it out after a few seconds", + "Turn to your left move forward then left then head to the shelf on your right", + "Put the plate on the second layer of the shelf" + ], + "task_desc": "Put the chilled plate on the shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3OWEPKL08CT6MAK3AATU9I3PUFE7NF", + "high_descs": [ + "Turn right and face the counter area to the right of the silver tea kettle.", + "Pick up the white plate to the right of the silver tea kettle and to the left of the gray bowl.", + "Turn around and move past the blue coffee maker and red toaster then turn left and face the refrigerator.", + "Open the refrigerator, place the plate on the top shelf to the right of the pot, chill the plate, then open the refrigerator, pick up the plate from the top shelf and then close the refrigerator door.", + "Turn left and move past the range and then turn right and face the shelves at the end of the counter.", + "Place the plate on the second shelf to the right of the credit card." + ], + "task_desc": "Place a chilled plate on the shelf.", + "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-Pot-None-Cabinet-27/trial_T20190908_131249_057435/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131249_057435/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c21948d1dad140dea20e70b0e9ce255f83ae7e6b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131249_057435/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 pot 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_T20190908_131249_057435)\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_35_bar__plus_00_dot_99_bar__plus_02_dot_50 - object\n Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01 - object\n Bowl_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_02_dot_55 - object\n Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83 - object\n ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 - object\n ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 - object\n Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object\n Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91 - object\n Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object\n DishSponge_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_16 - object\n Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75 - object\n Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 - object\n Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Fork_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_99 - object\n Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51 - object\n Fork_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__plus_02_dot_69 - object\n Knife_bar__plus_01_dot_92_bar__plus_00_dot_77_bar__plus_01_dot_92 - object\n Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 - object\n Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 - object\n Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_55 - object\n Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22 - object\n LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object\n Mug_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38 - object\n Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91 - object\n Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12 - object\n Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__plus_02_dot_43 - object\n PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_83 - object\n Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 - object\n Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22 - object\n Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 - object\n SaltShaker_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object\n SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 - object\n SoapBottle_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_76 - object\n Spatula_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__plus_02_dot_64 - object\n Spatula_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_58 - object\n 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loc_bar_3_bar__minus_1_bar_3_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar_3_bar_8_bar_3_bar_45 - location\n loc_bar_1_bar__minus_2_bar_2_bar_15 - location\n loc_bar_4_bar_8_bar_0_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar__minus_15 - location\n loc_bar_5_bar_5_bar_1_bar_30 - location\n loc_bar_3_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar__minus_30 - location\n loc_bar_2_bar_8_bar_3_bar_45 - location\n loc_bar_5_bar__minus_1_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_1_bar__minus_15 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_5_bar_4_bar_1_bar_45 - location\n loc_bar_6_bar__minus_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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(receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType)\n (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType)\n (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 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CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Tomato_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__plus_02_dot_48 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__plus_02_dot_43 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle SoapBottle_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_76 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_83 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Apple_bar__minus_00_dot_35_bar__plus_00_dot_99_bar__plus_02_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle DishSponge_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_16 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50)\n (inReceptacle Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle Spatula_bar__plus_01_dot_87_bar__plus_00_dot_76_bar__plus_00_dot_58 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle SaltShaker_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle WineBottle_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle WineBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Mug_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Knife_bar__plus_01_dot_92_bar__plus_00_dot_77_bar__plus_01_dot_92 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80)\n (inReceptacle Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Spatula_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__plus_02_dot_64 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Spatula_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_58 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08)\n (inReceptacle Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08)\n (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08)\n (inReceptacle Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08)\n (inReceptacleObject Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91 loc_bar_2_bar_8_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__plus_02_dot_43 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01 loc_bar_2_bar_8_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__plus_02_dot_48 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Spatula_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__plus_02_dot_64 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation WineBottle_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation 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Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_99 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15)\n (objectAtLocation WineBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_58 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_92_bar__plus_00_dot_77_bar__plus_01_dot_92 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_35_bar__plus_00_dot_99_bar__plus_02_dot_50 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_83 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91 loc_bar_2_bar_8_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_16 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12 loc_bar_2_bar_8_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_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 PotType)\n (receptacleType ?r CabinetType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 3", "take pot 1 from stoveburner 3", "go to fridge 1", "cool pot 1 with fridge 1", "go to cabinet 7", "move pot 1 to cabinet 7"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131249_057435/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131249_057435/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0ca2c62b0e3b68d11a851a086aae7c05e28fbb9a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131249_057435/initial_state.pddl @@ -0,0 +1,992 @@ + +(define (problem plan_trial_T20190908_131249_057435) +(: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_35_bar__plus_00_dot_99_bar__plus_02_dot_50 - object + Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01 - object + Bowl_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_02_dot_55 - object + Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83 - object + ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 - object + ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_16 - object + Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75 - object + Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_99 - object + Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51 - object + Fork_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__plus_02_dot_69 - object + Knife_bar__plus_01_dot_92_bar__plus_00_dot_77_bar__plus_01_dot_92 - object + Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 - object + Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 - object + Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_55 - object + Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91 - object + Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12 - object + Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__plus_02_dot_43 - object + PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_83 - object + Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 - object + Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + SaltShaker_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object + SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 - object + SoapBottle_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_76 - object + Spatula_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__plus_02_dot_64 - object + Spatula_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_58 - object + Spatula_bar__plus_01_dot_87_bar__plus_00_dot_76_bar__plus_00_dot_58 - object + Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + Tomato_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__plus_02_dot_48 - object + Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80 - object + Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71 - object + WineBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59 - object + WineBottle_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + WineBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 - object + Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle + DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle + Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle + Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle + Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle + loc_bar_5_bar_1_bar_1_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_30 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_5_bar_7_bar_1_bar__minus_30 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_5_bar_7_bar_0_bar__minus_30 - location + loc_bar_4_bar_3_bar_1_bar_30 - location + loc_bar_2_bar_2_bar_3_bar_45 - location + loc_bar_4_bar_8_bar_0_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_45 - location + loc_bar_4_bar_8_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_3_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_30 - location + loc_bar_5_bar_2_bar_1_bar__minus_15 - location + loc_bar_3_bar_8_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_15 - location + loc_bar_4_bar_8_bar_0_bar_60 - location + loc_bar_3_bar_6_bar_1_bar__minus_15 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + loc_bar_3_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_6_bar__minus_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType) + (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType) + (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType) + (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType) + (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (objectType Fork_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_99 ForkType) + (objectType Bowl_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_02_dot_55 BowlType) + (objectType Knife_bar__plus_01_dot_92_bar__plus_00_dot_77_bar__plus_01_dot_92 KnifeType) + (objectType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 SinkType) + (objectType Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 EggType) + (objectType Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75 EggType) + (objectType 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Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41) + (isReceptacleObject Mug_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38) + (isReceptacleObject Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91) + (isReceptacleObject Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50) + (isReceptacleObject Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12) + (isReceptacleObject Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50) + (isReceptacleObject Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91) + (openable Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77) + (openable Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (openable Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28) + (openable Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89) + (openable Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36) + (openable Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58) + (openable Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35) + (openable Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87) + (openable Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (openable Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77) + (openable Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87) + (openable Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (openable Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36) + (openable Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + + (atLocation agent1 loc_bar_6_bar__minus_3_bar_2_bar_30) + + (cleanable Fork_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_99) + (cleanable Bowl_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_02_dot_55) + (cleanable Knife_bar__plus_01_dot_92_bar__plus_00_dot_77_bar__plus_01_dot_92) + (cleanable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38) + (cleanable Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75) + (cleanable ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71) + (cleanable Spatula_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_58) + (cleanable Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38) + (cleanable Spatula_bar__plus_01_dot_87_bar__plus_00_dot_76_bar__plus_00_dot_58) + (cleanable Spatula_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__plus_02_dot_64) + (cleanable Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05) + (cleanable ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39) + (cleanable Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20) + (cleanable Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41) + (cleanable Mug_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38) + (cleanable Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22) + (cleanable Apple_bar__minus_00_dot_35_bar__plus_00_dot_99_bar__plus_02_dot_50) + (cleanable Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_55) + (cleanable Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91) + (cleanable DishSponge_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_16) + (cleanable Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50) + (cleanable Tomato_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__plus_02_dot_48) + (cleanable Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12) + (cleanable Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22) + (cleanable Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01) + (cleanable Fork_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__plus_02_dot_69) + (cleanable Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50) + (cleanable Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91) + (cleanable Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80) + (cleanable Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51) + (cleanable Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55) + (cleanable Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71) + + (heatable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38) + (heatable Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75) + (heatable Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41) + (heatable Mug_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38) + (heatable Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22) + (heatable Apple_bar__minus_00_dot_35_bar__plus_00_dot_99_bar__plus_02_dot_50) + (heatable Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91) + (heatable Tomato_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__plus_02_dot_48) + (heatable Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12) + (heatable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83) + (heatable Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01) + (heatable Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91) + (heatable Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80) + (heatable Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71) + (coolable Bowl_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_02_dot_55) + (coolable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38) + (coolable Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75) + (coolable WineBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59) + (coolable Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05) + (coolable WineBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55) + (coolable Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41) + (coolable Mug_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38) + (coolable Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22) + (coolable Apple_bar__minus_00_dot_35_bar__plus_00_dot_99_bar__plus_02_dot_50) + (coolable Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_55) + (coolable Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91) + (coolable Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50) + (coolable Tomato_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__plus_02_dot_48) + (coolable WineBottle_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22) + (coolable Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12) + (coolable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83) + (coolable Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22) + (coolable Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01) + (coolable Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50) + (coolable Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91) + (coolable Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80) + (coolable Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71) + + + + + + (sliceable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38) + (sliceable Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75) + (sliceable Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22) + (sliceable Apple_bar__minus_00_dot_35_bar__plus_00_dot_99_bar__plus_02_dot_50) + (sliceable Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_55) + (sliceable Tomato_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__plus_02_dot_48) + (sliceable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83) + (sliceable Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22) + (sliceable Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01) + (sliceable Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80) + (sliceable Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71) + + (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50) + (inReceptacle Fork_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_99 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Bowl_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Fork_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__plus_02_dot_69 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle WineBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Tomato_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__plus_02_dot_48 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__plus_02_dot_43 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle SoapBottle_bar__minus_00_dot_28_bar__plus_00_dot_94_bar__plus_02_dot_76 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_83 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Apple_bar__minus_00_dot_35_bar__plus_00_dot_99_bar__plus_02_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle DishSponge_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_16 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50) + (inReceptacle Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58) + (inReceptacle Spatula_bar__plus_01_dot_87_bar__plus_00_dot_76_bar__plus_00_dot_58 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58) + (inReceptacle SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle SaltShaker_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle WineBottle_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle WineBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Mug_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Tomato_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SoapBottle_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__minus_00_dot_27_bar__plus_00_dot_85_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Knife_bar__plus_01_dot_92_bar__plus_00_dot_77_bar__plus_01_dot_92 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80) + (inReceptacle Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_75 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle Spatula_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__plus_02_dot_64 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle Spatula_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_58 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + (inReceptacle Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + (inReceptacle Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + (inReceptacleObject Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_26_bar__plus_01_dot_03_bar__plus_01_dot_91 loc_bar_2_bar_8_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_93_bar__plus_02_dot_43 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation ButterKnife_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_01_dot_09_bar__plus_02_dot_01 loc_bar_2_bar_8_bar_3_bar_45) + (objectAtLocation 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Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_83 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15) + (objectAtLocation WineBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Spatula_bar__plus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_58 loc_bar_4_bar_8_bar_0_bar_60) + (objectAtLocation Knife_bar__plus_01_dot_92_bar__plus_00_dot_77_bar__plus_01_dot_92 loc_bar_4_bar_8_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_35_bar__plus_00_dot_99_bar__plus_02_dot_50 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_83 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Cup_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_91 loc_bar_2_bar_8_bar_3_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_16 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_12 loc_bar_2_bar_8_bar_3_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o PotType) + (receptacleType ?r CabinetType) + (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-Pot-None-Cabinet-27/trial_T20190908_131249_057435/traj_data.json 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+ }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_922e45ca", + "position": { + "x": -0.3120002, + "y": 0.781068146, + "z": 0.4090001 + }, + "rotation": { + "x": -0.00171954872, + "y": 0.0002241789, + "z": 0.000684097235 + } + }, + { + "objectName": "Spoon_9b26f0a9", + "position": { + "x": -0.0429645181, + "y": 0.7920931, + "z": 0.3771075 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5c2a3ea2", + "position": { + "x": -0.2611308, + "y": 1.0307529, + "z": 1.90751123 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_dbaf3456", + "position": { + "x": -0.0429645181, + "y": 0.7877516, + "z": 1.049764 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3283207586, + "scene_num": 27 + }, + "task_id": "trial_T20190908_131249_057435", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_30LB5CDZNF1U6DK0O78WQCKDQXAZ0F", + "high_descs": [ + "Turn around, go past the fridge to the stove on the right. ", + "Pick up the black pan from the stove. ", + "Bring the pan to the fridge, right of the stove. ", + "Chill the pan in the fridge. ", + "Bring the chilled pan back to the sink on the left, past the stove.", + "Put the chilled pan in the right cabinet under the sink. " + ], + "task_desc": "Put a chilled pan in a cabinet under the sink. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3FFJ6VRIL4F8BNVQO3KAQHHNUKHI0A", + "high_descs": [ + "Turn around and go forward and then turn to the right and face the stove.", + "Pick the pan up from the front of the stove.", + "Go right and turn to face the fridge.", + "Put the pan in the fridge and shut the door and then open the door and pick the pan up again and shut the door.", + "Go left and cross the room to face the cabinets below the sink.", + "Open the cabinet on the right, below the sink and put the pan in and shut the door." + ], + "task_desc": "Put a chilled pan in a cabinet.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_37M28K1J0T407BDEYN23RO80GMUAJJ", + "high_descs": [ + "Turn around and take a step then take a step to your left and walk to the stove on your right and turn right to face it when you get there.", + "Pick up the pan that's on the front left burner.", + "Turn right and walk to the fridge turning left to face it when you get there.", + "Chill the pan in the fridge on the middle shelf then get it back out and close the door.", + "Turn around and take a step then turn right and walk to the sink but leave enough room so you can use the cupboards under the sink.", + "Open the cupboard that's under the right side of the sink then put the pan under there before closing the door." + ], + "task_desc": "Put a chilled pan in the cupboard.", + "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-Pot-None-Cabinet-27/trial_T20190908_131329_081708/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131329_081708/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c6eb791ac394d091520a53d4b324c0a4338600eb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131329_081708/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 pot 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_T20190908_131329_081708)\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_03_bar__plus_00_dot_84_bar__plus_01_dot_05 - object\n Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83 - object\n Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71 - object\n Bowl_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__plus_01_dot_36 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PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_00_dot_81 - object\n Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 - object\n Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36 - object\n Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55 - object\n Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 - object\n SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 - object\n SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object\n SoapBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_51 - object\n SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_58 - object\n SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Spatula_bar__plus_01_dot_79_bar__plus_00_dot_95_bar__plus_02_dot_43 - object\n Spoon_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__plus_02_dot_64 - object\n Spoon_bar__plus_01_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_06 - object\n Spoon_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object\n Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38 - object\n Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 - object\n WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_00_dot_81 - object\n Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle\n DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle\n Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle\n Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle\n GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle\n Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle\n StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle\n StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle\n StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle\n Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle\n loc_bar_5_bar_1_bar_1_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_30 - location\n loc_bar_1_bar_0_bar_3_bar_60 - location\n loc_bar_5_bar_7_bar_1_bar__minus_30 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_5_bar_7_bar_0_bar__minus_30 - location\n loc_bar_4_bar_3_bar_1_bar_30 - location\n loc_bar_2_bar_2_bar_3_bar_45 - location\n loc_bar_4_bar_8_bar_0_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar_8_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_3_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar_3_bar_8_bar_3_bar_45 - location\n loc_bar_1_bar__minus_2_bar_2_bar_15 - location\n loc_bar_4_bar_8_bar_0_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar__minus_15 - location\n loc_bar_5_bar_5_bar_1_bar_30 - location\n loc_bar_3_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar__minus_30 - location\n loc_bar_2_bar_8_bar_3_bar_45 - location\n loc_bar_5_bar__minus_1_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_1_bar__minus_15 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_5_bar_4_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType)\n (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType)\n (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType)\n (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType)\n (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (objectType SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 SoapBottleType)\n (objectType DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_75 DishSpongeType)\n (objectType 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Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22)\n (heatable Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46)\n (heatable Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83)\n (heatable Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_05)\n (heatable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81)\n (coolable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38)\n (coolable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38)\n (coolable Cup_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_55)\n (coolable Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41)\n (coolable WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_00_dot_81)\n (coolable Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36)\n (coolable Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71)\n (coolable 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Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38)\n (sliceable Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36)\n (sliceable Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71)\n (sliceable Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55)\n (sliceable Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22)\n (sliceable Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83)\n (sliceable Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61)\n (sliceable Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_05)\n (sliceable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81)\n \n (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50)\n (inReceptacle Fork_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__plus_02_dot_13 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Knife_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__plus_01_dot_93 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Fork_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Ladle_bar__minus_00_dot_28_bar__plus_00_dot_98_bar__plus_02_dot_76 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Spatula_bar__plus_01_dot_79_bar__plus_00_dot_95_bar__plus_02_dot_43 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Cup_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle SoapBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_51 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_53 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle DishSponge_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_02_dot_76 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50)\n (inReceptacle DishSponge_bar__plus_01_dot_91_bar__plus_00_dot_75_bar__plus_00_dot_65 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_58 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Spoon_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Knife_bar__minus_00_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bowl_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__plus_01_dot_36 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Spoon_bar__plus_01_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_06 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_75 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Spoon_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__plus_02_dot_64 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Bowl_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_07 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08)\n (inReceptacleObject Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41)\n (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__plus_01_dot_36 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_75 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__plus_01_dot_93 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_28_bar__plus_00_dot_98_bar__plus_02_dot_76 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__plus_02_dot_13 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_51 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_02_dot_76 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45)\n (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 loc_bar_2_bar_2_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15)\n (objectAtLocation WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_79_bar__plus_00_dot_95_bar__plus_02_dot_43 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_53 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_91_bar__plus_00_dot_75_bar__plus_00_dot_65 loc_bar_4_bar_3_bar_1_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__plus_02_dot_64 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_07 loc_bar_2_bar_8_bar_3_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 PotType)\n (receptacleType ?r CabinetType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to stoveburner 3", "take pot 1 from stoveburner 3", "go to fridge 1", "cool pot 1 with fridge 1", "go to cabinet 7", "move pot 1 to cabinet 7"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131329_081708/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131329_081708/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bec05f3f69086e6e155da6e4a54deea2774b7e24 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Pot-None-Cabinet-27/trial_T20190908_131329_081708/initial_state.pddl @@ -0,0 +1,978 @@ + +(define (problem plan_trial_T20190908_131329_081708) +(: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_03_bar__plus_00_dot_84_bar__plus_01_dot_05 - object + Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83 - object + Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71 - object + Bowl_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__plus_01_dot_36 - object + Bowl_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_07 - object + Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 - object + ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_53 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_55 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_02_dot_76 - object + DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_75 - object + DishSponge_bar__plus_01_dot_91_bar__plus_00_dot_75_bar__plus_00_dot_65 - object + Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83 - object + Fork_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__plus_02_dot_13 - object + Fork_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 - object + Knife_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__plus_01_dot_93 - object + Knife_bar__minus_00_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_71 - object + Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 - object + Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 - object + Ladle_bar__minus_00_dot_28_bar__plus_00_dot_98_bar__plus_02_dot_76 - object + Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 - object + Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_00_dot_81 - object + Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 - object + Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36 - object + Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 - object + SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 - object + SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object + SoapBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_51 - object + SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_58 - object + SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Spatula_bar__plus_01_dot_79_bar__plus_00_dot_95_bar__plus_02_dot_43 - object + Spoon_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__plus_02_dot_64 - object + Spoon_bar__plus_01_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_06 - object + Spoon_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38 - object + Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 - object + WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_00_dot_81 - object + Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle + DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle + Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle + Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle + Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle + loc_bar_5_bar_1_bar_1_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_30 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_5_bar_7_bar_1_bar__minus_30 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_5_bar_7_bar_0_bar__minus_30 - location + loc_bar_4_bar_3_bar_1_bar_30 - location + loc_bar_2_bar_2_bar_3_bar_45 - location + loc_bar_4_bar_8_bar_0_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_45 - location + loc_bar_4_bar_8_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_3_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_30 - location + loc_bar_5_bar_2_bar_1_bar__minus_15 - location + loc_bar_3_bar_8_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_15 - location + loc_bar_4_bar_8_bar_0_bar_60 - location + loc_bar_3_bar_6_bar_1_bar__minus_15 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + loc_bar_3_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType 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Spoon_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39) + (cleanable ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_53) + (cleanable Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55) + (cleanable Knife_bar__minus_00_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_71) + (cleanable Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22) + (cleanable Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46) + (cleanable Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83) + (cleanable Bowl_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_07) + (cleanable Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61) + (cleanable Knife_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__plus_01_dot_93) + (cleanable Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50) + (cleanable DishSponge_bar__plus_01_dot_91_bar__plus_00_dot_75_bar__plus_00_dot_65) + (cleanable Spoon_bar__plus_01_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_06) + (cleanable Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_05) + (cleanable Fork_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83) + (cleanable Spoon_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__plus_02_dot_64) + (cleanable Bowl_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__plus_01_dot_36) + + (heatable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38) + (heatable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38) + (heatable Cup_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_55) + (heatable Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41) + (heatable Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36) + (heatable Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71) + (heatable Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55) + (heatable Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22) + (heatable Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46) + (heatable Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83) + (heatable Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_05) + (heatable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + (coolable Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38) + (coolable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38) + (coolable Cup_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_55) + (coolable Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41) + (coolable WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_00_dot_81) + (coolable Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36) + (coolable Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71) + (coolable 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Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Knife_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__plus_01_dot_93 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Fork_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + 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DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Spoon_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Knife_bar__minus_00_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Bowl_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__plus_01_dot_36 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Spoon_bar__plus_01_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_06 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_75 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle Spoon_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__plus_02_dot_64 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle Bowl_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_07 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + (inReceptacleObject Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41) + (inReceptacle Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__plus_01_dot_36 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_63_bar__plus_00_dot_79_bar__plus_02_dot_75 loc_bar_4_bar_8_bar_0_bar_60) + (objectAtLocation Apple_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_10_bar__plus_00_dot_77_bar__plus_01_dot_93 loc_bar_3_bar_8_bar_3_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_04_bar__plus_00_dot_83_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Ladle_bar__minus_00_dot_28_bar__plus_00_dot_98_bar__plus_02_dot_76 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__plus_02_dot_13 loc_bar_3_bar_8_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_43_bar__plus_00_dot_84_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_51 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_02_dot_76 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45) + (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30) + (objectAtLocation Egg_bar__minus_00_dot_35_bar__plus_00_dot_83_bar__plus_00_dot_38 loc_bar_2_bar_2_bar_3_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30) + (objectAtLocation Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Ladle_bar__plus_00_dot_00_bar__plus_00_dot_79_bar__plus_02_dot_20 loc_bar_3_bar_8_bar_3_bar_45) + (objectAtLocation Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Potato_bar__plus_02_dot_30_bar__plus_00_dot_98_bar__plus_02_dot_36 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15) + (objectAtLocation WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Spatula_bar__plus_01_dot_79_bar__plus_00_dot_95_bar__plus_02_dot_43 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Knife_bar__minus_00_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_00_dot_35_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Apple_bar__plus_00_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_83 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation ButterKnife_bar__minus_00_dot_27_bar__plus_00_dot_94_bar__plus_02_dot_53 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_93_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation DishSponge_bar__plus_01_dot_91_bar__plus_00_dot_75_bar__plus_00_dot_65 loc_bar_4_bar_3_bar_1_bar_30) + (objectAtLocation Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_17_bar__plus_00_dot_80_bar__plus_02_dot_64 loc_bar_4_bar_8_bar_0_bar_60) + (objectAtLocation Mug_bar__plus_02_dot_06_bar__plus_00_dot_99_bar__plus_02_dot_46 loc_bar_5_bar_7_bar_0_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_02_dot_07 loc_bar_2_bar_8_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o PotType) + (receptacleType ?r CabinetType) + (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-Pot-None-Cabinet-27/trial_T20190908_131329_081708/traj_data.json 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"objectName": "WineBottle_2a35bd39", + "position": { + "x": 2.30194378, + "y": 0.9392287, + "z": 0.8060128 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_db580e26", + "position": { + "x": 1.79003978, + "y": 0.9526999, + "z": 2.43443441 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_540cf8b1", + "position": { + "x": -0.103412524, + "y": 0.7724115, + "z": 1.92550552 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_fac53a9c", + "position": { + "x": 0.033597976, + "y": 0.837259, + "z": 0.3771075 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_92427322", + "position": { + "x": 0.03359799, + "y": 0.840991735, + "z": 1.049764 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_a2d86e36", + "position": { + "x": -0.272034049, + "y": 0.937742054, + "z": 2.53054 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_a2dda372", + "position": { + "x": 1.85448289, + "y": 0.9379, + "z": 1.497 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1fe08306", + "position": { + "x": 1.99438143, + "y": 0.933299959, + "z": 0.8060128 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7054e289", + "position": { + "x": 0.060256362, + "y": 0.935965359, + "z": 2.54838872 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_6b8b37c4", + "position": { + "x": 0.6297573, + "y": 0.7949538, + "z": 2.75055981 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_922e45ca", + "position": { + "x": -0.3120002, + "y": 0.781068146, + "z": 0.4090001 + }, + "rotation": { + "x": -0.0017196394, + "y": 0.000224225587, + "z": 0.000684318 + } + }, + { + "objectName": "Spoon_9b26f0a9", + "position": { + "x": 1.919843, + "y": 0.7479364, + "z": 2.06035233 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5c2a3ea2", + "position": { + "x": 2.06402683, + "y": 0.9892, + "z": 2.4621613 + }, + "rotation": { + "x": 0.0, + "y": 225.000214, + "z": 0.0 + } + }, + { + "objectName": "Bowl_dbaf3456", + "position": { + "x": -0.0329042375, + "y": 0.7809668, + "z": 1.35529852 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3623222928, + "scene_num": 27 + }, + "task_id": "trial_T20190908_131329_081708", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A35C0II2FFV18S_38F71OA9GWNL4A07C01NLHB8HVYMF6", + "high_descs": [ + "Move to the right to the stove", + "Pick up the pan from the front left of the stove", + "Turn right and head to the refrigerator to face it", + "Open the door, place the pan on the second shelf of the refrigerator, close the door and wait a few seconds before opening the door and removing the pan", + "Turn around then turn to the right and head to the sink", + "Open the door to the cabinet beneath the sink, place the pan in there and close the door" + ], + "task_desc": "Place a chilled pan in the cabinet under the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3L6L49WXW3ODYNIC0KOIDB3V69R450", + "high_descs": [ + "Walk to the stove in front of you.", + "Grab the baking pan from the stove.", + "Walk to the fridge on your right.", + "Place the pan in the fridge, then remove it.", + "Walk to the kitchen sink on your left.", + "Place the pan on the bottom right drawer." + ], + "task_desc": "Chill a pan and put it away.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_38JBBYETQR1DU6B5BLHLH598J344EH", + "high_descs": [ + "Go to the stove", + "Pick up the black pot on the stove", + "Go to the fridge", + "Chill the pot in the fridge", + "Go to the sink", + "Open the sink drawer and place the pot in the sink drawer" + ], + "task_desc": "Chill a pot and place in a sink drawer", + "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-Tomato-None-Microwave-18/trial_T20190909_012331_818911/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012331_818911/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8b30931a866c65c625f77f2e826c64ef50062930 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012331_818911/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 tomato 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_012331_818911)\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_14_bar__plus_01_dot_07_bar__plus_04_dot_76 - object\n Apple_bar__plus_02_dot_06_bar__plus_00_dot_16_bar__plus_06_dot_44 - object\n Apple_bar__plus_02_dot_09_bar__plus_01_dot_59_bar__plus_05_dot_25 - object\n Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object\n Bowl_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_26 - object\n Bowl_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_23 - object\n Bowl_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_75 - object\n Bread_bar__plus_01_dot_31_bar__plus_01_dot_06_bar__plus_03_dot_42 - object\n ButterKnife_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_54 - object\n ButterKnife_bar__plus_01_dot_35_bar__plus_00_dot_77_bar__plus_04_dot_72 - object\n Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object\n Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_42 - object\n Cup_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_50 - object\n Cup_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_61 - object\n DishSponge_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 - object\n DishSponge_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_42 - object\n Egg_bar__plus_00_dot_19_bar__plus_00_dot_81_bar__plus_06_dot_39 - object\n Egg_bar__minus_00_dot_27_bar__plus_00_dot_81_bar__plus_06_dot_59 - object\n Egg_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__plus_06_dot_20 - object\n Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object\n Fork_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__plus_00_dot_62 - object\n Fork_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_00_dot_21 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object\n Kettle_bar__plus_00_dot_62_bar__plus_01_dot_58_bar__plus_00_dot_30 - object\n Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 - object\n Kettle_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__plus_06_dot_17 - object\n Knife_bar__plus_01_dot_29_bar__plus_00_dot_80_bar__plus_03_dot_29 - object\n Knife_bar__minus_00_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_45 - object\n Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_85_bar__plus_06_dot_60 - object\n Lettuce_bar__minus_00_dot_69_bar__plus_01_dot_08_bar__plus_00_dot_40 - object\n LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object\n Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 - object\n Mug_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_41 - object\n Mug_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_48 - object\n Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object\n PaperTowelRoll_bar__minus_00_dot_76_bar__plus_01_dot_10_bar__plus_00_dot_58 - object\n PepperShaker_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__plus_06_dot_81 - object\n PepperShaker_bar__plus_01_dot_45_bar__plus_02_dot_20_bar__plus_03_dot_93 - object\n Plate_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_01_dot_94 - object\n Plate_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_03_dot_14 - object\n Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_47 - object\n Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_05_dot_38 - object\n Potato_bar__minus_00_dot_62_bar__plus_00_dot_79_bar__plus_06_dot_67 - object\n Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 - object\n Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object\n SaltShaker_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_34 - object\n SaltShaker_bar__plus_01_dot_36_bar__plus_02_dot_20_bar__plus_03_dot_93 - object\n SaltShaker_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_29 - object\n Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object\n SoapBottle_bar__plus_01_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_12 - object\n SoapBottle_bar__plus_01_dot_36_bar__plus_02_dot_21_bar__plus_04_dot_22 - object\n SoapBottle_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_79 - object\n Spatula_bar__minus_00_dot_08_bar__plus_00_dot_79_bar__plus_00_dot_51 - object\n 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Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle\n Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle\n DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle\n Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - 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Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar__minus_30 - location\n loc_bar_4_bar_22_bar_1_bar_60 - location\n loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location\n loc_bar_3_bar_15_bar_1_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_60 - location\n loc_bar_3_bar_16_bar_1_bar_60 - location\n loc_bar_3_bar_18_bar_1_bar__minus_30 - location\n loc_bar_3_bar_17_bar_1_bar__minus_30 - location\n loc_bar_1_bar_13_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_6_bar_24_bar_3_bar_15 - location\n loc_bar_3_bar_9_bar_1_bar__minus_30 - location\n loc_bar_4_bar_24_bar_1_bar_60 - location\n loc_bar_3_bar_17_bar_1_bar_60 - location\n loc_bar_1_bar_14_bar_1_bar_60 - location\n loc_bar_3_bar_9_bar_1_bar__minus_15 - location\n loc_bar_1_bar_20_bar_1_bar_45 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_13_bar_1_bar_60 - location\n loc_bar_3_bar_9_bar_1_bar_45 - location\n loc_bar_3_bar_17_bar_1_bar_45 - location\n loc_bar_1_bar_17_bar_1_bar_60 - location\n loc_bar_4_bar_26_bar_1_bar_60 - location\n loc_bar_1_bar_22_bar_0_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_15_bar_1_bar_60 - location\n loc_bar_1_bar_6_bar_2_bar_30 - location\n loc_bar_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_1_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar_26_bar_3_bar_45 - location\n loc_bar_3_bar_19_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar_5_bar_23_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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(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 KettleType)\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 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 StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType 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GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\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 KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType 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 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 KettleType)\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 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 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 DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\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 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 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 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 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 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 StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType 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 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 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 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 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 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 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 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 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 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 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 (pickupable Bowl_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_23)\n (pickupable Knife_bar__plus_01_dot_29_bar__plus_00_dot_80_bar__plus_03_dot_29)\n (pickupable Fork_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_00_dot_21)\n (pickupable Mug_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_41)\n (pickupable Egg_bar__plus_00_dot_19_bar__plus_00_dot_81_bar__plus_06_dot_39)\n (pickupable Apple_bar__plus_02_dot_09_bar__plus_01_dot_59_bar__plus_05_dot_25)\n (pickupable Tomato_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_06_dot_90)\n (pickupable Kettle_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__plus_06_dot_17)\n (pickupable SaltShaker_bar__plus_01_dot_36_bar__plus_02_dot_20_bar__plus_03_dot_93)\n (pickupable SaltShaker_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_29)\n (pickupable Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28)\n (pickupable Plate_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_01_dot_94)\n (pickupable Tomato_bar__plus_01_dot_31_bar__plus_01_dot_04_bar__plus_00_dot_67)\n (pickupable Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_42)\n (pickupable SoapBottle_bar__plus_01_dot_36_bar__plus_02_dot_21_bar__plus_04_dot_22)\n (pickupable Plate_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_03_dot_14)\n (pickupable Kettle_bar__plus_00_dot_62_bar__plus_01_dot_58_bar__plus_00_dot_30)\n (pickupable ButterKnife_bar__plus_01_dot_35_bar__plus_00_dot_77_bar__plus_04_dot_72)\n (pickupable 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Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Tomato_bar__plus_01_dot_33_bar__plus_00_dot_94_bar__plus_01_dot_98 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_47 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Apple_bar__plus_02_dot_06_bar__plus_00_dot_16_bar__plus_06_dot_44 GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50)\n (inReceptacleObject Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation 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(receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 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loc_bar_4_bar_22_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30)\n (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60)\n (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation 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StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_45_bar__plus_02_dot_20_bar__plus_03_dot_93 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (objectAtLocation Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_31_bar__plus_01_dot_04_bar__plus_01_dot_58 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_42 loc_bar_1_bar_10_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_40 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o TomatoType)\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 tomato 4 from diningtable 1", "go to fridge 1", "cool tomato 4 with fridge 1", "go to microwave 1", "open microwave 1", "move tomato 4 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-Tomato-None-Microwave-18/trial_T20190909_012331_818911/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012331_818911/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4e8819d659993a302d3b0ae0ba93e4911fb2d979 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012331_818911/initial_state.pddl @@ -0,0 +1,1181 @@ + +(define (problem plan_trial_T20190909_012331_818911) +(: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_14_bar__plus_01_dot_07_bar__plus_04_dot_76 - object + Apple_bar__plus_02_dot_06_bar__plus_00_dot_16_bar__plus_06_dot_44 - object + Apple_bar__plus_02_dot_09_bar__plus_01_dot_59_bar__plus_05_dot_25 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_26 - object + Bowl_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_01_dot_23 - object + Bowl_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_75 - object + Bread_bar__plus_01_dot_31_bar__plus_01_dot_06_bar__plus_03_dot_42 - object + ButterKnife_bar__plus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_54 - object + ButterKnife_bar__plus_01_dot_35_bar__plus_00_dot_77_bar__plus_04_dot_72 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_01_dot_16_bar__plus_00_dot_14_bar__plus_02_dot_42 - object + Cup_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_50 - object + Cup_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_61 - object + DishSponge_bar__minus_00_dot_01_bar__plus_01_dot_58_bar__plus_00_dot_25 - object + DishSponge_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_42 - object + Egg_bar__plus_00_dot_19_bar__plus_00_dot_81_bar__plus_06_dot_39 - object + Egg_bar__minus_00_dot_27_bar__plus_00_dot_81_bar__plus_06_dot_59 - object + Egg_bar__minus_00_dot_53_bar__plus_00_dot_81_bar__plus_06_dot_20 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__plus_00_dot_62 - object + Fork_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_00_dot_62_bar__plus_01_dot_58_bar__plus_00_dot_30 - object + Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 - object + Kettle_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__plus_06_dot_17 - object + Knife_bar__plus_01_dot_29_bar__plus_00_dot_80_bar__plus_03_dot_29 - object + Knife_bar__minus_00_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_45 - object + Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_85_bar__plus_06_dot_60 - object + Lettuce_bar__minus_00_dot_69_bar__plus_01_dot_08_bar__plus_00_dot_40 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 - object + Mug_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_41 - object + Mug_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_48 - object + Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 - object + PaperTowelRoll_bar__minus_00_dot_76_bar__plus_01_dot_10_bar__plus_00_dot_58 - object + PepperShaker_bar__plus_00_dot_17_bar__plus_00_dot_76_bar__plus_06_dot_81 - object + PepperShaker_bar__plus_01_dot_45_bar__plus_02_dot_20_bar__plus_03_dot_93 - object + Plate_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_01_dot_94 - object + Plate_bar__plus_01_dot_32_bar__plus_00_dot_14_bar__plus_03_dot_14 - object + Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_47 - object + Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_05_dot_38 - object + Potato_bar__minus_00_dot_62_bar__plus_00_dot_79_bar__plus_06_dot_67 - object + Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + SaltShaker_bar__plus_00_dot_67_bar__plus_00_dot_14_bar__plus_00_dot_34 - object + SaltShaker_bar__plus_01_dot_36_bar__plus_02_dot_20_bar__plus_03_dot_93 - object + SaltShaker_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_29 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_01_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_12 - object + SoapBottle_bar__plus_01_dot_36_bar__plus_02_dot_21_bar__plus_04_dot_22 - object + SoapBottle_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__plus_06_dot_79 - object + Spatula_bar__minus_00_dot_08_bar__plus_00_dot_79_bar__plus_00_dot_51 - object + Spatula_bar__minus_00_dot_41_bar__plus_00_dot_79_bar__plus_00_dot_51 - object + Spoon_bar__plus_00_dot_12_bar__plus_00_dot_77_bar__plus_00_dot_40 - object + Spoon_bar__plus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_09 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__plus_00_dot_08_bar__plus_00_dot_81_bar__plus_06_dot_90 - object + Tomato_bar__plus_01_dot_31_bar__plus_01_dot_04_bar__plus_00_dot_67 - object + Tomato_bar__plus_01_dot_31_bar__plus_01_dot_04_bar__plus_01_dot_58 - object + Tomato_bar__plus_01_dot_33_bar__plus_00_dot_94_bar__plus_01_dot_98 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle + Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle + DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle + Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle + GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle + Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle + Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_2_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar__minus_30 - location + loc_bar_4_bar_22_bar_1_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location + loc_bar_3_bar_15_bar_1_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_13_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar_5_bar_23_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 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Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61) + (inReceptacle PepperShaker_bar__plus_01_dot_45_bar__plus_02_dot_20_bar__plus_03_dot_93 Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61) + (inReceptacle Fork_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__plus_00_dot_62 Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52) + (inReceptacle Knife_bar__plus_01_dot_29_bar__plus_00_dot_80_bar__plus_03_dot_29 Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29) + (inReceptacle DishSponge_bar__minus_00_dot_31_bar__plus_00_dot_76_bar__plus_06_dot_42 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Mug_bar_00_dot_00_bar__plus_00_dot_76_bar__plus_06_dot_48 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + (inReceptacle Kettle_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__plus_06_dot_17 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47) + 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StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29) + (inReceptacle Fork_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Kettle_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__plus_03_dot_25 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_76_bar__plus_01_dot_10_bar__plus_00_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Tomato_bar__plus_01_dot_31_bar__plus_01_dot_04_bar__plus_00_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Tomato_bar__plus_01_dot_31_bar__plus_01_dot_04_bar__plus_01_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Mug_bar__plus_01_dot_38_bar__plus_01_dot_04_bar__plus_00_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle SoapBottle_bar__plus_01_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_12 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Lettuce_bar__minus_00_dot_69_bar__plus_01_dot_08_bar__plus_00_dot_40 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Bread_bar__plus_01_dot_31_bar__plus_01_dot_06_bar__plus_03_dot_42 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90) + (inReceptacle Apple_bar__plus_01_dot_14_bar__plus_01_dot_07_bar__plus_04_dot_76 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72) + (inReceptacle Bowl_bar__plus_01_dot_50_bar__plus_01_dot_58_bar__plus_04_dot_75 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89) + (inReceptacle Bowl_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_26 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74) + 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CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95) + (inReceptacle Potato_bar__plus_02_dot_01_bar__plus_01_dot_55_bar__plus_05_dot_38 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Apple_bar__plus_02_dot_09_bar__plus_01_dot_59_bar__plus_05_dot_25 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacle Cup_bar__plus_02_dot_09_bar__plus_01_dot_51_bar__plus_05_dot_50 Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63) + (inReceptacleObject Pan_bar__plus_01_dot_31_bar__plus_00_dot_99_bar__plus_04_dot_28 Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29) + (inReceptacleObject Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29) + (inReceptacle Spoon_bar__plus_01_dot_44_bar__plus_00_dot_89_bar__plus_02_dot_09 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin) + 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"turk_annotations": { + "anns": [ + { + "assignment_id": "A2871R3LEPWMMK_3K2755HG5VUI0GUUZ72K2ROE8MFFD0", + "high_descs": [ + "Turn around, take a left at the round table and walk to the counter on the left with the coffee maker.", + "Pick up the tomato to the right of the sink on the counter.", + "Head left and walk to the white fridge on the right.", + "Put the tomato inside the fridge on the shelf to the right side, chill it, remove it and close the door.", + "Turn around and head left to the microwave on the counter.", + "Put the chilled tomato inside the microwave and close the door." + ], + "task_desc": "Place a chilled tomato in a microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3LS2AMNW5IH6V2BS3WRUPK4RJ2NOQS", + "high_descs": [ + "Turn around and walk to the black chair then turn left and walk to the counter to the right of the sink turning left to face it when you get there.", + "Pick up the tomato that's in front of you.", + "Turn left and walk to the black chair then turn right and walk to the fridge.", + "Chill the tomato in the fridge then get it back out and close the door.", + "Turn around and take a large step forward then turn left and walk to the microwave.", + "Put the tomato in the microwave please." + ], + "task_desc": "Put a cold tomato in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3TEM0PF1Q8OR3CF4WPJZZK1A2KJD0N", + "high_descs": [ + "turn to walk to face the counter to the right of the sink", + "pick up tomato from the counter top", + "walk to face the fridge", + "chill tomato in fridge, remove tomato from fridge", + "walk to face microwave", + "put tomato into the microwave, close the door" + ], + "task_desc": "put a chilled tomato into a 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-Tomato-None-Microwave-18/trial_T20190909_012450_473555/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012450_473555/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..dbbdac746726329436bea32f87fd0f9a9f4bfb55 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012450_473555/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 tomato 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_012450_473555)\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_70_bar__plus_01_dot_07_bar__plus_00_dot_67 - object\n Apple_bar__plus_02_dot_06_bar__plus_00_dot_16_bar__plus_06_dot_47 - object\n Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_67 - object\n Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object\n Bowl_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35 - object\n Bowl_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_16 - object\n Bowl_bar__plus_01_dot_46_bar__plus_01_dot_58_bar__plus_01_dot_41 - object\n Bread_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_06_dot_79 - object\n Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_21 - object\n ButterKnife_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_42 - object\n Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object\n Cup_bar__plus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_58 - object\n DishSponge_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_04 - object\n DishSponge_bar__plus_01_dot_54_bar__plus_01_dot_58_bar__plus_04_dot_69 - object\n Egg_bar__plus_01_dot_23_bar__plus_01_dot_04_bar__plus_01_dot_12 - object\n Egg_bar__plus_01_dot_96_bar__plus_00_dot_13_bar__plus_06_dot_50 - object\n Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object\n Fork_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_04_dot_68 - object\n Fork_bar__minus_00_dot_35_bar__plus_00_dot_77_bar__plus_00_dot_40 - object\n Fork_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_67 - object\n HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object\n Kettle_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_30 - object\n Kettle_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_50 - object\n Knife_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__plus_00_dot_56 - object\n Knife_bar__plus_01_dot_35_bar__plus_00_dot_80_bar__plus_03_dot_29 - object\n Lettuce_bar__plus_00_dot_31_bar__plus_00_dot_85_bar__plus_06_dot_60 - object\n Lettuce_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__plus_06_dot_60 - object\n LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object\n Mug_bar__plus_00_dot_62_bar__plus_00_dot_99_bar__plus_00_dot_12 - object\n Pan_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_40 - object\n Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object\n PaperTowelRoll_bar__plus_01_dot_23_bar__plus_01_dot_10_bar__plus_00_dot_21 - object\n PepperShaker_bar__plus_00_dot_68_bar__plus_01_dot_57_bar__plus_00_dot_30 - object\n PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 - object\n PepperShaker_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_11 - object\n Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44 - object\n Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_72 - object\n Plate_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_58 - object\n Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62 - object\n Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_42 - object\n Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 - object\n Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object\n SaltShaker_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__plus_06_dot_06 - object\n SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_79 - object\n Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object\n SoapBottle_bar__plus_00_dot_56_bar__plus_01_dot_58_bar__plus_00_dot_25 - object\n SoapBottle_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_49 - object\n SoapBottle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_48 - object\n Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_98 - object\n Spatula_bar__minus_00_dot_42_bar__plus_00_dot_78_bar__plus_06_dot_65 - object\n Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_48 - object\n Spoon_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_17 - object\n Spoon_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_22 - object\n Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_61 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object\n StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object\n Tomato_bar__plus_01_dot_14_bar__plus_01_dot_04_bar__plus_00_dot_44 - object\n Tomato_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_23 - object\n Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object\n Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object\n Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle\n Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle\n Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle\n Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle\n Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle\n CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle\n CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle\n DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle\n Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle\n Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle\n Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle\n Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle\n GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle\n Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle\n Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle\n Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle\n StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle\n StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle\n Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_2_bar_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar__minus_30 - location\n loc_bar_4_bar_22_bar_1_bar_60 - location\n loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location\n loc_bar_3_bar_15_bar_1_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_60 - location\n loc_bar_3_bar_16_bar_1_bar_60 - location\n loc_bar_3_bar_18_bar_1_bar__minus_30 - location\n loc_bar_3_bar_17_bar_1_bar__minus_30 - location\n loc_bar_1_bar_13_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar__minus_30 - location\n loc_bar__minus_5_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_6_bar_24_bar_3_bar_15 - location\n loc_bar_3_bar_9_bar_1_bar__minus_30 - location\n loc_bar_4_bar_24_bar_1_bar_60 - location\n loc_bar_3_bar_17_bar_1_bar_60 - location\n loc_bar_1_bar_14_bar_1_bar_60 - location\n loc_bar_3_bar_9_bar_1_bar__minus_15 - location\n loc_bar_1_bar_20_bar_1_bar_45 - location\n loc_bar__minus_3_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_9_bar_1_bar_45 - location\n loc_bar_3_bar_17_bar_1_bar_45 - location\n loc_bar_1_bar_17_bar_1_bar_60 - location\n loc_bar_4_bar_26_bar_1_bar_60 - location\n loc_bar_1_bar_22_bar_0_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_3_bar_15_bar_1_bar_60 - location\n loc_bar_1_bar_6_bar_2_bar_30 - location\n loc_bar_1_bar_7_bar_2_bar_45 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_1_bar_7_bar_1_bar_60 - location\n loc_bar_3_bar_26_bar_3_bar_45 - location\n loc_bar_3_bar_19_bar_1_bar_45 - location\n loc_bar_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar_13_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType)\n (receptacleType 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DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_67 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Lettuce_bar__plus_00_dot_31_bar__plus_00_dot_85_bar__plus_06_dot_60 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_48 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_79 DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47)\n (inReceptacle Bowl_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35 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StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29)\n (inReceptacle Fork_bar__minus_00_dot_35_bar__plus_00_dot_77_bar__plus_00_dot_40 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Knife_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__plus_00_dot_56 Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52)\n (inReceptacle Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29)\n (inReceptacle Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85)\n (inReceptacle Fork_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Tomato_bar__plus_01_dot_14_bar__plus_01_dot_04_bar__plus_00_dot_44 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Cup_bar__plus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_58 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Mug_bar__plus_00_dot_62_bar__plus_00_dot_99_bar__plus_00_dot_12 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Apple_bar__plus_00_dot_70_bar__plus_01_dot_07_bar__plus_00_dot_67 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle DishSponge_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_04 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Egg_bar__plus_01_dot_23_bar__plus_01_dot_04_bar__plus_01_dot_12 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Pan_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_40 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Tomato_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_23 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_42 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle SoapBottle_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_49 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_23_bar__plus_01_dot_10_bar__plus_00_dot_21 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90)\n (inReceptacle Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72)\n (inReceptacle DishSponge_bar__plus_01_dot_54_bar__plus_01_dot_58_bar__plus_04_dot_69 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89)\n (inReceptacle Kettle_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_50 Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Plate_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_58 Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74)\n (inReceptacle Bowl_bar__plus_01_dot_46_bar__plus_01_dot_58_bar__plus_01_dot_41 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53)\n (inReceptacle PepperShaker_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_11 Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53)\n (inReceptacle Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_72 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94)\n (inReceptacle Kettle_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacle PepperShaker_bar__plus_00_dot_68_bar__plus_01_dot_57_bar__plus_00_dot_30 Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacle SoapBottle_bar__plus_00_dot_56_bar__plus_01_dot_58_bar__plus_00_dot_25 Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43)\n (inReceptacleObject Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29)\n (inReceptacle Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_98 Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_01_dot_96_bar__plus_00_dot_13_bar__plus_06_dot_50 GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50)\n (inReceptacle Apple_bar__plus_02_dot_06_bar__plus_00_dot_16_bar__plus_06_dot_47 GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 loc_bar_1_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 loc_bar_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 loc_bar_1_bar_14_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 loc_bar_1_bar_17_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 loc_bar_3_bar_17_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 loc_bar_3_bar_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 loc_bar_3_bar_14_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar__minus_1_bar_7_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 loc_bar_0_bar_7_bar_2_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 loc_bar_3_bar_26_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 loc_bar_1_bar_20_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 loc_bar_4_bar_22_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 loc_bar_1_bar_6_bar_2_bar_30)\n (receptacleAtLocation Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 loc_bar_4_bar_26_bar_1_bar_60)\n (receptacleAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin loc_bar_3_bar_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 loc_bar_3_bar_15_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_22 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_04 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_23 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_40 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_68_bar__plus_01_dot_57_bar__plus_00_dot_30 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_42_bar__plus_00_dot_78_bar__plus_06_dot_65 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_31_bar__plus_00_dot_85_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__plus_06_dot_06 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_58 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Kettle_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_50 loc_bar_1_bar_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_67 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__plus_00_dot_56 loc_bar__minus_3_bar_5_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_96_bar__plus_00_dot_13_bar__plus_06_dot_50 loc_bar_4_bar_24_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_70_bar__plus_01_dot_07_bar__plus_00_dot_67 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_11 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_16 loc_bar_1_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_49 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_35_bar__plus_00_dot_77_bar__plus_00_dot_40 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_48 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_17 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_46_bar__plus_01_dot_58_bar__plus_01_dot_41 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (objectAtLocation Bread_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_23_bar__plus_01_dot_04_bar__plus_01_dot_12 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_35_bar__plus_00_dot_80_bar__plus_03_dot_29 loc_bar_1_bar_13_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_04_dot_68 loc_bar_1_bar_20_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_06_bar__plus_00_dot_16_bar__plus_06_dot_47 loc_bar_4_bar_24_bar_1_bar_60)\n (objectAtLocation Kettle_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_30 loc_bar_0_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_72 loc_bar_1_bar_10_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_79 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__plus_06_dot_60 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 loc_bar__minus_6_bar_15_bar_3_bar__minus_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 loc_bar_3_bar_9_bar_1_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_00_dot_56_bar__plus_01_dot_58_bar__plus_00_dot_25 loc_bar_2_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_98 loc_bar_3_bar_9_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_23_bar__plus_01_dot_10_bar__plus_00_dot_21 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 loc_bar_3_bar_17_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_42 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_42 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 loc_bar_3_bar_16_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 loc_bar_3_bar_17_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 loc_bar_3_bar_15_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 loc_bar_3_bar_19_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_14_bar__plus_01_dot_04_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_54_bar__plus_01_dot_58_bar__plus_04_dot_69 loc_bar_3_bar_18_bar_1_bar__minus_30)\n (objectAtLocation Cup_bar__plus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 loc_bar__minus_6_bar_24_bar_3_bar_15)\n (objectAtLocation Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_61 loc_bar_3_bar_26_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_62_bar__plus_00_dot_99_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r MicrowaveType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take tomato 2 from countertop 2", "go to fridge 1", "cool tomato 2 with fridge 1", "go to microwave 1", "open microwave 1", "move tomato 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-Tomato-None-Microwave-18/trial_T20190909_012450_473555/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012450_473555/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..068480a91d2f70f9e3166625cd4c2f50f220ce32 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012450_473555/initial_state.pddl @@ -0,0 +1,1137 @@ + +(define (problem plan_trial_T20190909_012450_473555) +(: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_70_bar__plus_01_dot_07_bar__plus_00_dot_67 - object + Apple_bar__plus_02_dot_06_bar__plus_00_dot_16_bar__plus_06_dot_47 - object + Apple_bar__minus_00_dot_16_bar__plus_00_dot_83_bar__plus_06_dot_67 - object + Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 - object + Bowl_bar__plus_00_dot_15_bar__plus_00_dot_76_bar__plus_06_dot_35 - object + Bowl_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_16 - object + Bowl_bar__plus_01_dot_46_bar__plus_01_dot_58_bar__plus_01_dot_41 - object + Bread_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_06_dot_79 - object + Bread_bar__minus_00_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_21 - object + ButterKnife_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_42 - object + Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 - object + Cup_bar__plus_00_dot_54_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + DishSponge_bar__plus_01_dot_49_bar__plus_00_dot_99_bar__plus_03_dot_04 - object + DishSponge_bar__plus_01_dot_54_bar__plus_01_dot_58_bar__plus_04_dot_69 - object + Egg_bar__plus_01_dot_23_bar__plus_01_dot_04_bar__plus_01_dot_12 - object + Egg_bar__plus_01_dot_96_bar__plus_00_dot_13_bar__plus_06_dot_50 - object + Faucet_bar__plus_01_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_37 - object + Fork_bar__plus_01_dot_41_bar__plus_00_dot_77_bar__plus_04_dot_68 - object + Fork_bar__minus_00_dot_35_bar__plus_00_dot_77_bar__plus_00_dot_40 - object + Fork_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_67 - object + HousePlant_bar__minus_00_dot_17_bar__plus_00_dot_75_bar__plus_06_dot_44 - object + Kettle_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_30 - object + Kettle_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_50 - object + Knife_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__plus_00_dot_56 - object + Knife_bar__plus_01_dot_35_bar__plus_00_dot_80_bar__plus_03_dot_29 - object + Lettuce_bar__plus_00_dot_31_bar__plus_00_dot_85_bar__plus_06_dot_60 - object + Lettuce_bar__minus_00_dot_62_bar__plus_00_dot_85_bar__plus_06_dot_60 - object + LightSwitch_bar__minus_02_dot_00_bar__plus_01_dot_55_bar__plus_06_dot_05 - object + Mug_bar__plus_00_dot_62_bar__plus_00_dot_99_bar__plus_00_dot_12 - object + Pan_bar__plus_00_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_40 - object + Pan_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_03_dot_85 - object + PaperTowelRoll_bar__plus_01_dot_23_bar__plus_01_dot_10_bar__plus_00_dot_21 - object + PepperShaker_bar__plus_00_dot_68_bar__plus_01_dot_57_bar__plus_00_dot_30 - object + PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 - object + PepperShaker_bar__plus_01_dot_54_bar__plus_01_dot_57_bar__plus_01_dot_11 - object + Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44 - object + Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_72 - object + Plate_bar__minus_00_dot_55_bar__plus_00_dot_14_bar__plus_00_dot_58 - object + Potato_bar__plus_01_dot_14_bar__plus_01_dot_03_bar__plus_04_dot_62 - object + Potato_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_03_dot_42 - object + Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29 - object + SaltShaker_bar__plus_00_dot_08_bar__plus_00_dot_76_bar__plus_06_dot_06 - object + SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_76_bar__plus_06_dot_79 - object + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33 - object + SoapBottle_bar__plus_00_dot_56_bar__plus_01_dot_58_bar__plus_00_dot_25 - object + SoapBottle_bar__minus_00_dot_46_bar__plus_00_dot_99_bar__plus_00_dot_49 - object + SoapBottle_bar__minus_00_dot_62_bar__plus_00_dot_76_bar__plus_06_dot_48 - object + Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_98 - object + Spatula_bar__minus_00_dot_42_bar__plus_00_dot_78_bar__plus_06_dot_65 - object + Spatula_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__plus_06_dot_48 - object + Spoon_bar__minus_00_dot_16_bar__plus_00_dot_76_bar__plus_06_dot_17 - object + Spoon_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_22 - object + Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_61 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_82 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_03_dot_99 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_14 - object + StoveKnob_bar__plus_01_dot_14_bar__plus_00_dot_93_bar__plus_04_dot_31 - object + Tomato_bar__plus_01_dot_14_bar__plus_01_dot_04_bar__plus_00_dot_44 - object + Tomato_bar__plus_01_dot_40_bar__plus_01_dot_04_bar__plus_03_dot_23 - object + Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 - object + Window_bar__minus_02_dot_07_bar__plus_01_dot_92_bar__plus_03_dot_63 - object + Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 - receptacle + Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 - receptacle + Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_03_dot_61 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_02_dot_46_bar__plus_04_dot_36 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_00_dot_52 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_03_dot_10 - receptacle + Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 - receptacle + Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 - receptacle + CoffeeMachine_bar__plus_01_dot_55_bar__plus_00_dot_98_bar__plus_00_dot_95 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 - receptacle + CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 - receptacle + DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 - receptacle + Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 - receptacle + Drawer_bar__plus_01_dot_28_bar__plus_00_dot_81_bar__plus_04_dot_72 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 - receptacle + Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 - receptacle + GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 - receptacle + Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 - receptacle + Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 - receptacle + Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 - receptacle + StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 - receptacle + Toaster_bar__plus_01_dot_47_bar__plus_00_dot_98_bar__plus_04_dot_72 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_2_bar_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar__minus_30 - location + loc_bar_4_bar_22_bar_1_bar_60 - location + loc_bar__minus_6_bar_15_bar_3_bar__minus_30 - location + loc_bar_3_bar_15_bar_1_bar_45 - location + loc_bar_1_bar_10_bar_1_bar_60 - location + loc_bar_3_bar_16_bar_1_bar_60 - location + loc_bar_3_bar_18_bar_1_bar__minus_30 - location + loc_bar_3_bar_17_bar_1_bar__minus_30 - location + loc_bar_1_bar_13_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_1_bar__minus_30 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar_0_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_24_bar_3_bar_15 - location + loc_bar_3_bar_9_bar_1_bar__minus_30 - location + loc_bar_4_bar_24_bar_1_bar_60 - location + loc_bar_3_bar_17_bar_1_bar_60 - location + loc_bar_1_bar_14_bar_1_bar_60 - location + loc_bar_3_bar_9_bar_1_bar__minus_15 - location + loc_bar_1_bar_20_bar_1_bar_45 - location + loc_bar__minus_3_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_9_bar_1_bar_45 - location + loc_bar_3_bar_17_bar_1_bar_45 - location + loc_bar_1_bar_17_bar_1_bar_60 - location + loc_bar_4_bar_26_bar_1_bar_60 - location + loc_bar_1_bar_22_bar_0_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_3_bar_15_bar_1_bar_60 - location + loc_bar_1_bar_6_bar_2_bar_30 - location + loc_bar_1_bar_7_bar_2_bar_45 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_1_bar_7_bar_1_bar_60 - location + loc_bar_3_bar_26_bar_3_bar_45 - location + loc_bar_3_bar_19_bar_1_bar_45 - location + loc_bar_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar_13_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_99 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_12_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_00_dot_90 CounterTopType) + (receptacleType Sink_bar__plus_01_dot_39_bar__plus_01_dot_01_bar__plus_02_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_27_bar__plus_02_dot_13_bar__plus_00_dot_43 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_03_dot_85 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_17_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_01_dot_71 CabinetType) + (receptacleType GarbageCan_bar__plus_02_dot_00_bar__plus_00_dot_00_bar__plus_06_dot_50 GarbageCanType) + (receptacleType Drawer_bar__plus_00_dot_74_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType Safe_bar__plus_02_dot_05_bar__minus_00_dot_01_bar__plus_07_dot_06 SafeType) + (receptacleType StoveBurner_bar__plus_01_dot_56_bar__plus_00_dot_98_bar__plus_04_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_44_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType DiningTable_bar__minus_00_dot_16_bar__plus_00_dot_67_bar__plus_06_dot_47 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_04_dot_55 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_04_dot_89 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_48_bar__plus_00_dot_80_bar__plus_00_dot_52 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_39_bar__plus_01_dot_03_bar__plus_04_dot_72 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_28_bar__plus_00_dot_80_bar__plus_03_dot_29 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94 CabinetType) + (receptacleType 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(receptacleType Cabinet_bar__minus_00_dot_78_bar__plus_00_dot_42_bar__plus_00_dot_74 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_04_bar__plus_00_dot_00_bar__plus_05_dot_63 FridgeType) + (receptacleType Microwave_bar__plus_00_dot_11_bar__plus_00_dot_98_bar__plus_00_dot_26 MicrowaveType) + (objectType Kettle_bar__plus_00_dot_89_bar__plus_00_dot_14_bar__plus_00_dot_50 KettleType) + (objectType Fork_bar__minus_00_dot_38_bar__plus_00_dot_99_bar__plus_00_dot_67 ForkType) + (objectType Plate_bar__plus_01_dot_40_bar__plus_00_dot_99_bar__plus_00_dot_44 PlateType) + (objectType Tomato_bar__plus_01_dot_14_bar__plus_01_dot_04_bar__plus_00_dot_44 TomatoType) + (objectType Spatula_bar__minus_00_dot_42_bar__plus_00_dot_78_bar__plus_06_dot_65 SpatulaType) + (objectType Apple_bar__plus_00_dot_70_bar__plus_01_dot_07_bar__plus_00_dot_67 AppleType) + (objectType Knife_bar__plus_00_dot_06_bar__plus_00_dot_80_bar__plus_00_dot_56 KnifeType) + (objectType 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(objectType PepperShaker_bar__plus_01_dot_14_bar__plus_00_dot_99_bar__plus_04_dot_76 PepperShakerType) + (objectType Knife_bar__plus_01_dot_35_bar__plus_00_dot_80_bar__plus_03_dot_29 KnifeType) + (objectType DishSponge_bar__plus_01_dot_54_bar__plus_01_dot_58_bar__plus_04_dot_69 DishSpongeType) + (objectType PepperShaker_bar__plus_00_dot_68_bar__plus_01_dot_57_bar__plus_00_dot_30 PepperShakerType) + (objectType Spoon_bar__minus_00_dot_33_bar__plus_00_dot_76_bar__plus_06_dot_22 SpoonType) + (objectType Bowl_bar__plus_01_dot_41_bar__plus_00_dot_14_bar__plus_02_dot_16 BowlType) + (objectType Bread_bar__minus_00_dot_03_bar__plus_00_dot_83_bar__plus_06_dot_79 BreadType) + (objectType Bowl_bar__plus_01_dot_46_bar__plus_01_dot_58_bar__plus_01_dot_41 BowlType) + (objectType Window_bar__plus_01_dot_76_bar__plus_02_dot_01_bar__plus_02_dot_30 WindowType) + (objectType PaperTowelRoll_bar__plus_01_dot_23_bar__plus_01_dot_10_bar__plus_00_dot_21 PaperTowelRollType) + (objectType 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Cabinet_bar__plus_01_dot_32_bar__plus_02_dot_13_bar__plus_01_dot_53) + (inReceptacle Plate_bar__plus_01_dot_49_bar__plus_00_dot_14_bar__plus_02_dot_72 Cabinet_bar__plus_01_dot_05_bar__plus_00_dot_42_bar__plus_02_dot_94) + (inReceptacle Kettle_bar__plus_00_dot_05_bar__plus_01_dot_58_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_26_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle PepperShaker_bar__plus_00_dot_68_bar__plus_01_dot_57_bar__plus_00_dot_30 Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacle SoapBottle_bar__plus_00_dot_56_bar__plus_01_dot_58_bar__plus_00_dot_25 Cabinet_bar__plus_00_dot_25_bar__plus_02_dot_13_bar__plus_00_dot_43) + (inReceptacleObject Pot_bar__plus_01_dot_32_bar__plus_00_dot_99_bar__plus_04_dot_29 Pot_bar__plus_01_dot_56_bar__plus_00_dot_99_bar__plus_04_dot_29) + (inReceptacle Spatula_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_01_dot_98 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Chair_bar__plus_00_dot_29_bar__plus_00_dot_02_bar__plus_06_dot_14 loc_bar_1_bar_22_bar_0_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__plus_06_dot_61 loc_bar_3_bar_26_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_62_bar__plus_00_dot_99_bar__plus_00_dot_12 loc_bar_3_bar_4_bar_1_bar_45) + (objectAtLocation Blinds_bar__plus_01_dot_74_bar__plus_02_dot_56_bar__plus_02_dot_31 loc_bar_3_bar_9_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o TomatoType) + (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-Tomato-None-Microwave-18/trial_T20190909_012450_473555/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-Microwave-18/trial_T20190909_012450_473555/traj_data.json new file mode 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0.7612178, + "z": 6.217004 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Mug_6d84c70f", + "position": { + "x": 0.6205562, + "y": 0.987700045, + "z": 0.120407164 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 39898730, + "scene_num": 18 + }, + "task_id": "trial_T20190909_012450_473555", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3T9K2RY06UO14_36ZN444YTUPTE4N9QOMLGID5SS4IOH", + "high_descs": [ + "Turn and go to the counter by the sink. ", + "Pick up a tomato on the counter. ", + "Turn and go to the refrigerator. ", + "Chill the tomato in the refrigerator. ", + "Turn and go to the microwave. ", + "Put the tomato in the microwave." + ], + "task_desc": "Move a tomato to the microwave. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_378XPAWRUF44C0T8G5H3FNT03B3IAL", + "high_descs": [ + "Turn around and move to stand in front of the counter space between the stove and sink.", + "Pick up the tomato from the counter.", + "Turn left and carry the tomato to the fridge.", + "Place the tomato on the top shelf in the fridge, close the door, and then open to remove the tomato after a few seconds.", + "Turn right and carry the tomato across the room to the microwave.", + "Open the microwave and place the tomato inside." + ], + "task_desc": "Move a cold tomato to the microwave. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3LEP4MGT3JRSNZIEU5GOJ1XTTOEDB7", + "high_descs": [ + "Turn around and go to the counter directly in front of you.", + "Pick up the tomato on the counter.", + "Turn left and move forward, then turn right to face the fridge.", + "Open the fridge, put the tomato inside and chill it, then take it out.", + "Turn around, turn left, then go straight to the microwave ahead.", + "Put the tomato in the microwave." + ], + "task_desc": "Put a cold tomato in 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-GarbageCan-12/trial_T20190907_220233_281670/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190907_220233_281670/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..02aae55bdcfaa2e6ef8655532037cbd3fcf9605e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190907_220233_281670/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 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_220233_281670)\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_52_bar__plus_00_dot_12_bar__plus_02_dot_91 - object\n Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08 - object\n Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92 - object\n Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16 - object\n Bowl_bar__plus_01_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_71 - object\n Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_46 - object\n Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object\n ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_84 - object\n ButterKnife_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69 - 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_44_bar__plus_00_dot_94_bar__plus_01_dot_07 - object\n Cup_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_77 - object\n DishSponge_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77 - object\n Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80 - object\n Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12 - object\n Egg_bar__minus_00_dot_92_bar__plus_01_dot_53_bar__plus_00_dot_27 - object\n Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object\n Fork_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_85 - object\n Fork_bar__minus_00_dot_72_bar__plus_00_dot_75_bar__plus_01_dot_05 - object\n Fork_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08 - object\n Knife_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_81 - object\n Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 - object\n Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_25 - object\n Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94 - 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_42_bar__plus_00_dot_84_bar__plus_01_dot_37 - object\n Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 - object\n Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03 - object\n Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object\n PepperShaker_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30 - object\n PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_31 - object\n Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01 - object\n Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78 - object\n Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95 - object\n Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__minus_00_dot_03 - object\n Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12 - 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__plus_01_dot_79_bar__plus_00_dot_93_bar__plus_01_dot_57 - object\n Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object\n 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Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__minus_00_dot_03)\n (heatable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91)\n (heatable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80)\n (heatable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_63_bar__plus_00_dot_04)\n (heatable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35)\n (heatable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92)\n (heatable Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08)\n (heatable Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01)\n (heatable Mug_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37)\n (heatable Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12)\n (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n (coolable Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95)\n (coolable Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03)\n (coolable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94)\n (coolable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16)\n (coolable Cup_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_01_dot_07)\n (coolable Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_46)\n (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87)\n (coolable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_78)\n (coolable Egg_bar__minus_00_dot_92_bar__plus_01_dot_53_bar__plus_00_dot_27)\n (coolable Cup_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_77)\n (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39)\n (coolable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_03)\n (coolable Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12)\n (coolable Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__minus_00_dot_03)\n (coolable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91)\n (coolable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80)\n (coolable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_63_bar__plus_00_dot_04)\n (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47)\n (coolable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35)\n (coolable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92)\n (coolable Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08)\n (coolable Bowl_bar__plus_01_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_71)\n (coolable Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01)\n (coolable Mug_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37)\n (coolable Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12)\n (coolable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n \n \n \n \n \n (sliceable Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95)\n (sliceable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94)\n (sliceable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16)\n (sliceable Egg_bar__minus_00_dot_92_bar__plus_01_dot_53_bar__plus_00_dot_27)\n (sliceable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_03)\n (sliceable Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12)\n (sliceable Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__minus_00_dot_03)\n (sliceable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91)\n (sliceable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80)\n (sliceable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_63_bar__plus_00_dot_04)\n (sliceable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92)\n (sliceable Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08)\n (sliceable Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12)\n (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n \n (inReceptacle Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16 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 PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_25 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (inReceptacle Spatula_bar__minus_00_dot_76_bar__plus_00_dot_76_bar__plus_02_dot_38 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (inReceptacle Spoon_bar__minus_00_dot_79_bar__plus_00_dot_75_bar__plus_02_dot_38 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 Knife_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_81 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_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_79_bar__plus_00_dot_93_bar__plus_01_dot_57 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Cup_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_01_dot_07 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (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)\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 PepperShaker_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58)\n (inReceptacle Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_46 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21)\n (inReceptacle Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_00_dot_75_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 Spatula_bar__minus_00_dot_71_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Cup_bar__minus_01_dot_13_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 DishSponge_bar__minus_00_dot_96_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 Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle ButterKnife_bar__minus_01_dot_04_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 ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__minus_01_dot_13_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 Spatula_bar__minus_00_dot_88_bar__plus_00_dot_95_bar__plus_01_dot_00 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 Fork_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_85 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle SoapBottle_bar__minus_01_dot_12_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 Egg_bar__minus_00_dot_92_bar__plus_01_dot_53_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_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_86_bar__plus_00_dot_63_bar__plus_00_dot_04 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_03 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_35_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45)\n (inReceptacle Mug_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37 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__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_60_bar__plus_00_dot_95_bar__plus_01_dot_67 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80 loc_bar_4_bar_5_bar_1_bar_60)\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 Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_81 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_71_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_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__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_46 loc_bar_1_bar_5_bar_1_bar__minus_15)\n (objectAtLocation Tomato_bar__minus_00_dot_86_bar__plus_00_dot_63_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_85 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_25 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_92_bar__plus_01_dot_53_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_88_bar__plus_00_dot_95_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_72_bar__plus_00_dot_75_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95 loc_bar_3_bar_10_bar_1_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_67_bar__plus_01_dot_03_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_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_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_28 loc_bar__minus_1_bar_7_bar_3_bar__minus_15)\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_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_71 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_87 loc_bar__minus_1_bar_7_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_76_bar__plus_00_dot_76_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_93_bar__plus_01_dot_57 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_31 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\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__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_01_dot_07 loc_bar_3_bar_8_bar_1_bar_45)\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_79_bar__plus_00_dot_75_bar__plus_02_dot_38 loc_bar_0_bar_9_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_53_bar__plus_01_dot_00_bar__plus_02_dot_35 loc_bar_3_bar_10_bar_1_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 AppleType)\n (receptacleType ?r GarbageCanType)\n (isHot ?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 microwave 1", "heat apple 1 with microwave 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_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190907_220233_281670/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190907_220233_281670/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2560c9794c93ef33ee09d0072ed1e717b316f3aa --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190907_220233_281670/initial_state.pddl @@ -0,0 +1,1100 @@ + +(define (problem plan_trial_T20190907_220233_281670) +(: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_52_bar__plus_00_dot_12_bar__plus_02_dot_91 - object + Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08 - object + Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92 - object + Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16 - object + Bowl_bar__plus_01_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_71 - object + Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_46 - object + Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object + ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_84 - object + ButterKnife_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69 - object + Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object + Cup_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_01_dot_07 - object + Cup_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_77 - object + DishSponge_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77 - object + Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80 - object + Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12 - object + Egg_bar__minus_00_dot_92_bar__plus_01_dot_53_bar__plus_00_dot_27 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + Fork_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_85 - object + Fork_bar__minus_00_dot_72_bar__plus_00_dot_75_bar__plus_01_dot_05 - object + Fork_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08 - object + Knife_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_81 - object + Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 - object + Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_25 - object + Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94 - object + LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object + Mug_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37 - object + Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 - object + Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03 - object + Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object + PepperShaker_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30 - object + PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_31 - object + 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Spatula_bar__minus_00_dot_88_bar__plus_00_dot_95_bar__plus_01_dot_00 - object + Spoon_bar__plus_01_dot_60_bar__plus_00_dot_95_bar__plus_01_dot_67 - object + Spoon_bar__minus_00_dot_79_bar__plus_00_dot_75_bar__plus_02_dot_38 - 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_86_bar__plus_00_dot_63_bar__plus_00_dot_04 - object + Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_03 - 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 + 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Tomato_bar__minus_00_dot_86_bar__plus_00_dot_63_bar__plus_00_dot_04) + (heatable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (heatable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92) + (heatable Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08) + (heatable Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01) + (heatable Mug_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37) + (heatable Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12) + (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (coolable Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95) + (coolable Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03) + (coolable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94) + (coolable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16) + (coolable Cup_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_01_dot_07) + (coolable Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_46) + (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_92_bar__plus_01_dot_53_bar__plus_00_dot_27) + (coolable Cup_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_77) + (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (coolable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_03) + (coolable Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12) + (coolable Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__minus_00_dot_03) + (coolable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91) + (coolable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80) + (coolable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_63_bar__plus_00_dot_04) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (coolable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92) + (coolable Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08) + (coolable Bowl_bar__plus_01_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_71) + (coolable Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01) + (coolable Mug_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37) + (coolable Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12) + (coolable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + + + + + + (sliceable Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95) + (sliceable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94) + (sliceable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16) + (sliceable Egg_bar__minus_00_dot_92_bar__plus_01_dot_53_bar__plus_00_dot_27) + (sliceable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_03) + (sliceable Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12) + (sliceable Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__minus_00_dot_03) + (sliceable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91) + (sliceable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80) + (sliceable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_63_bar__plus_00_dot_04) + (sliceable Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92) + (sliceable Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08) + (sliceable Egg_bar__minus_00_dot_83_bar__plus_01_dot_35_bar__plus_00_dot_12) + (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + + (inReceptacle Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_02_dot_16 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_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_25 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (inReceptacle Spatula_bar__minus_00_dot_76_bar__plus_00_dot_76_bar__plus_02_dot_38 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (inReceptacle Spoon_bar__minus_00_dot_79_bar__plus_00_dot_75_bar__plus_02_dot_38 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 Knife_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_81 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_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_79_bar__plus_00_dot_93_bar__plus_01_dot_57 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Cup_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_01_dot_07 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 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 PepperShaker_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58) + (inReceptacle Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_46 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21) + (inReceptacle Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_00_dot_75_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 Spatula_bar__minus_00_dot_71_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Cup_bar__minus_01_dot_13_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 DishSponge_bar__minus_00_dot_96_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 Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Apple_bar__minus_00_dot_96_bar__plus_00_dot_99_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle ButterKnife_bar__minus_01_dot_04_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 ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Fork_bar__minus_01_dot_13_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 Spatula_bar__minus_00_dot_88_bar__plus_00_dot_95_bar__plus_01_dot_00 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 Fork_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_85 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle SoapBottle_bar__minus_01_dot_12_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 Egg_bar__minus_00_dot_92_bar__plus_01_dot_53_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Mug_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_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_86_bar__plus_00_dot_63_bar__plus_00_dot_04 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_03 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_35_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45) + (inReceptacle Mug_bar__plus_01_dot_42_bar__plus_00_dot_84_bar__plus_01_dot_37 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 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) + (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 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) + 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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_42_bar__plus_00_dot_84_bar__plus_01_dot_37 loc_bar_4_bar_5_bar_1_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_60_bar__plus_00_dot_95_bar__plus_01_dot_67 loc_bar_4_bar_5_bar_1_bar_60) + (objectAtLocation Cup_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_80 loc_bar_4_bar_5_bar_1_bar_60) + (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) + (objectAtLocation Potato_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_04_bar__plus_01_dot_82_bar__plus_00_dot_30 loc_bar__minus_1_bar_3_bar_3_bar__minus_30) + (objectAtLocation Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_91 loc_bar_3_bar_10_bar_1_bar_60) + (objectAtLocation Knife_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_81 loc_bar_3_bar_8_bar_1_bar_45) + (objectAtLocation Spatula_bar__minus_00_dot_71_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45) + (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) + (objectAtLocation Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_46 loc_bar_1_bar_5_bar_1_bar__minus_15) + (objectAtLocation Tomato_bar__minus_00_dot_86_bar__plus_00_dot_63_bar__plus_00_dot_04 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(objectAtLocation Potato_bar__plus_01_dot_39_bar__plus_00_dot_10_bar__plus_02_dot_95 loc_bar_3_bar_10_bar_1_bar_60) + (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) + (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) + (objectAtLocation Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_bar_45) + (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) + (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) + (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) + (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) + (objectAtLocation SoapBottle_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_28 loc_bar__minus_1_bar_7_bar_3_bar__minus_15) + (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_94_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_46_bar__plus_00_dot_94_bar__plus_01_dot_71 loc_bar_4_bar_5_bar_1_bar_60) + (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_76_bar__plus_00_dot_76_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_79_bar__plus_00_dot_93_bar__plus_01_dot_57 loc_bar_3_bar_8_bar_1_bar_45) + (objectAtLocation Apple_bar__minus_01_dot_04_bar__plus_00_dot_99_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__plus_02_dot_31 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_02_bar__plus_01_dot_35_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60) + (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 DishSponge_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation 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"y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_20fd7fed", + "position": { + "x": -0.9230002, + "y": 0.990678668, + "z": 2.26549959 + }, + "rotation": { + "x": -6.535081e-05, + "y": 302.470367, + "z": 7.51836e-05 + } + }, + { + "objectName": "Fork_d40bfead", + "position": { + "x": 1.275738, + "y": 0.747115731, + "z": 0.848631263 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_2b7ef926", + "position": { + "x": -0.860395, + "y": 0.6270374, + "z": 0.0423489437 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Bowl_01d32d7f", + "position": { + "x": 1.70056427, + "y": 1.944939, + "z": 1.45750451 + }, + "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": 0.6879356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_8aa9254c", + "position": { + "x": 1.36229229, + "y": 0.959892631, + "z": 0.8063456 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_00786e88", + "position": { + "x": 1.78703427, + "y": 0.9342061, + "z": 1.5660181 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_d0e3153d", + "position": { + "x": 1.523011, + "y": 0.119435936, + "z": 2.91251349 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_2858d553", + "position": { + "x": -1.038075, + "y": 1.8240869, + "z": 0.303504229 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_6bdc3897", + "position": { + "x": -1.04315484, + "y": 0.9379421, + "z": 0.6879356 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_22312ae0", + "position": { + "x": -0.8771876, + "y": 1.35187662, + "z": -0.03430243 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Plate_c49d2ab8", + "position": { + "x": 1.37759125, + "y": 1.05943835, + "z": 0.0120204454 + }, + "rotation": { + "x": -5.394008e-05, + "y": -2.71702029e-05, + "z": -1.66846676e-05 + } + }, + { + "objectName": "DishSponge_a0f18af8", + "position": { + "x": -0.96003, + "y": 0.937464237, + "z": 0.765623748 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_83ce1479", + "position": { + "x": 1.597631, + "y": 0.9798608, + "z": 1.7985332 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_0e044937", + "position": { + "x": -1.12628, + "y": 0.9364782, + "z": 0.765623748 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9f7abbea", + "position": { + "x": 1.3781, + "y": 1.73753989, + "z": 0.3929 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5fe99c37", + "position": { + "x": 1.59763086, + "y": 0.9458269, + "z": 1.673159 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c6f8cd8f", + "position": { + "x": 1.42227757, + "y": 0.8384428, + "z": 1.36970234 + }, + "rotation": { + "x": -1.40334208e-14, + "y": 9.659347e-06, + "z": 4.25675352e-22 + } + } + ], + "object_toggles": [], + "random_seed": 645265344, + "scene_num": 12 + }, + "task_id": "trial_T20190907_220233_281670", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3MLUEOP3CCLXL_3C2NJ6JBKDYZ09NX4YCZDRMHJQS2NC", + "high_descs": [ + "Turn around and walk to the silver trash can that is between the wall and the cabinet", + "Pick up the apple that it in the top right corner of the trash can", + "Turn right and walk to the sink, face the sink", + "Place the apple in the microwave above the sink, close the door and turn on the microwave, then open the microwave and pick up the apple and close the door", + "Turn left and walk to the wall, the turn right and face the trash can that is sitting between the wall and the cabinet", + "Place the apple in the top left corner of the trash can" + ], + "task_desc": "Place a cooked apple in a trash can", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3SNLUL3WO74IWLTEB56Q6IDKXOYULB", + "high_descs": [ + "turn around and move forward to face the trash can to the left of the counter", + "remove an apple from the trash can", + "turn to the right and move toward the sink, turn and face the sink", + "open the microwave door that is above the sink and place the apple inside of the microwave, cook the apple for three seconds, open the door and remove the apple from the microwave", + "turn to the left and move towards the end of the counter, turn and face the trash can at the end of the counter", + "put the apple back into the bottom of the trash can" + ], + "task_desc": "put a cooked apple into the trash can", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_38SKSKU7R4EDNUYEHOHCNFP93RVLIA", + "high_descs": [ + "Turn and go to the wastebasket behind you, at the left end of the counter.", + "Take the apple out of the wastebasket.", + "Turn right and go to the sink, then face the microwave above the sink.", + "Cook the apple in the microwave.", + "Turn left and go back to the wastebasket.", + "Throw the apple into the wastebasket." + ], + "task_desc": "Throw away a cooked apple.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172302_166350/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172302_166350/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0ad0cabe7a8fd6f179e696fd3b4d6081a64faf3b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172302_166350/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 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_172302_166350)\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_52_bar__plus_00_dot_12_bar__plus_02_dot_85 - object\n Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12 - object\n Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04 - object\n Bowl_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_76 - object\n Bowl_bar__minus_00_dot_90_bar__plus_00_dot_56_bar__plus_00_dot_27 - object\n Bowl_bar__minus_01_dot_04_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_26 - object\n ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_93_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__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34 - object\n Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01 - object\n Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55 - object\n DishSponge_bar__plus_01_dot_34_bar__plus_00_dot_75_bar__plus_02_dot_39 - object\n DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_47 - object\n DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_01_dot_05 - object\n Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95 - object\n 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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 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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__minus_1_bar_2_bar_1_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 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(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 SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\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 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 DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\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 ForkType)\n 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Mug_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_01)\n (cleanable Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_02_dot_46)\n (cleanable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27)\n (cleanable Spoon_bar__plus_01_dot_36_bar__plus_00_dot_94_bar__plus_00_dot_87)\n (cleanable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39)\n (cleanable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55)\n (cleanable Bowl_bar__minus_00_dot_90_bar__plus_00_dot_56_bar__plus_00_dot_27)\n (cleanable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04)\n (cleanable Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95)\n (cleanable Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15)\n (cleanable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34)\n (cleanable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03)\n (cleanable DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_47)\n (cleanable Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_77)\n (cleanable Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08)\n (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47)\n (cleanable ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_02_dot_23)\n (cleanable Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01)\n (cleanable Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85)\n (cleanable DishSponge_bar__plus_01_dot_34_bar__plus_00_dot_75_bar__plus_02_dot_39)\n (cleanable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_95_bar__plus_01_dot_92)\n (cleanable DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_01_dot_05)\n (cleanable Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11)\n (cleanable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12)\n (cleanable Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53)\n \n (heatable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_92)\n (heatable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_03)\n (heatable Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (heatable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_85)\n (heatable Mug_bar__minus_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04)\n (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_26)\n (heatable Mug_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_01)\n (heatable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27)\n (heatable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55)\n (heatable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04)\n (heatable Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95)\n (heatable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34)\n (heatable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03)\n (heatable Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08)\n (heatable Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01)\n (heatable Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85)\n (heatable Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11)\n (heatable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12)\n (heatable Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53)\n (coolable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92)\n (coolable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_92)\n (coolable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94)\n (coolable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_03)\n (coolable Bowl_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_76)\n (coolable Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (coolable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_85)\n (coolable Mug_bar__minus_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04)\n (coolable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_26)\n (coolable Mug_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_01)\n (coolable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27)\n (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39)\n (coolable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55)\n (coolable Bowl_bar__minus_00_dot_90_bar__plus_00_dot_56_bar__plus_00_dot_27)\n (coolable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04)\n (coolable Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95)\n (coolable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34)\n (coolable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03)\n (coolable Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08)\n (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47)\n (coolable Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01)\n (coolable Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85)\n (coolable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_95_bar__plus_01_dot_92)\n (coolable Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11)\n (coolable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12)\n (coolable Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53)\n \n (isCool Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12)\n (isCool Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04)\n \n \n \n (sliceable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92)\n (sliceable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94)\n (sliceable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_03)\n (sliceable Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (sliceable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_85)\n (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_26)\n (sliceable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27)\n (sliceable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04)\n (sliceable Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95)\n (sliceable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03)\n (sliceable Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08)\n (sliceable Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85)\n (sliceable Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11)\n (sliceable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12)\n \n (inReceptacle Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_26 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle ButterKnife_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 Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\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_34_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 Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_02_dot_46 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39)\n (inReceptacle SoapBottle_bar__plus_01_dot_75_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 Mug_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_01 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_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_36_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 Spoon_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_00_dot_74 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 PepperShaker_bar__plus_01_dot_47_bar__plus_00_dot_08_bar__plus_02_dot_18 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_47 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59)\n (inReceptacle Bowl_bar__minus_01_dot_04_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)\n (inReceptacle Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53 Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69)\n (inReceptacle Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70)\n (inReceptacle Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92 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_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Fork_bar__minus_00_dot_96_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 Fork_bar__minus_00_dot_71_bar__plus_00_dot_94_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 SaltShaker_bar__minus_01_dot_13_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 Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08 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_92 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63)\n (inReceptacle DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27 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_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Bowl_bar__minus_00_dot_90_bar__plus_00_dot_56_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_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_88_bar__plus_01_dot_55_bar__plus_00_dot_12 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_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Mug_bar__minus_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__plus_01_dot_52_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 Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Cup_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 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_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_00_dot_74 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Cup_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 Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_47 loc_bar_2_bar_1_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_76 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_71_bar__plus_00_dot_94_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_85 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (objectAtLocation Bowl_bar__minus_00_dot_90_bar__plus_00_dot_56_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95 loc_bar_3_bar_10_bar_1_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 DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_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__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_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__plus_01_dot_75_bar__plus_00_dot_94_bar__plus_02_dot_12 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_26 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_04_bar__plus_01_dot_95_bar__plus_01_dot_92 loc_bar_0_bar_8_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__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_02_dot_46 loc_bar_2_bar_9_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_00_dot_98 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_47_bar__plus_00_dot_08_bar__plus_02_dot_18 loc_bar_1_bar_9_bar_1_bar_45)\n (objectAtLocation ButterKnife_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 Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31 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_92 loc_bar_1_bar_5_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_34_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_03 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01 loc_bar_3_bar_8_bar_1_bar_45)\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__plus_01_dot_36_bar__plus_00_dot_94_bar__plus_00_dot_87 loc_bar_3_bar_8_bar_1_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_29_bar__plus_00_dot_93_bar__plus_01_dot_01 loc_bar_3_bar_8_bar_1_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 AppleType)\n (receptacleType ?r GarbageCanType)\n (isHot ?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 microwave 1", "heat apple 1 with microwave 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_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172302_166350/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172302_166350/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b9c1b5b48ba2e202dcb6b0a5411976a606efab0f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172302_166350/initial_state.pddl @@ -0,0 +1,1083 @@ + +(define (problem plan_trial_T20190908_172302_166350) +(: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_52_bar__plus_00_dot_12_bar__plus_02_dot_85 - object + Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12 - object + Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04 - object + Bowl_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_76 - object + Bowl_bar__minus_00_dot_90_bar__plus_00_dot_56_bar__plus_00_dot_27 - object + Bowl_bar__minus_01_dot_04_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_26 - object + ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_93_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__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34 - object + Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01 - object + Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55 - object + DishSponge_bar__plus_01_dot_34_bar__plus_00_dot_75_bar__plus_02_dot_39 - object + DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_47 - object + DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_01_dot_05 - object + Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95 - object + Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85 - object + Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_03 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + Fork_bar__minus_00_dot_71_bar__plus_00_dot_94_bar__plus_01_dot_00 - object + Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15 - object + Fork_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_01_dot_15 - object + Knife_bar__minus_01_dot_04_bar__plus_00_dot_96_bar__plus_00_dot_77 - object + Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94 - object + Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92 - object + LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object + Mug_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_01 - object + Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53 - object + Mug_bar__minus_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04 - object + Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object + PepperShaker_bar__plus_01_dot_47_bar__plus_00_dot_08_bar__plus_02_dot_18 - object + Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_92 - object + Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08 - object + Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11 - object + Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31 - object + Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object + SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_00_dot_98 - object + SaltShaker_bar__minus_01_dot_13_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_75_bar__plus_00_dot_94_bar__plus_02_dot_12 - object + Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_02_dot_46 - object + Spoon_bar__plus_01_dot_36_bar__plus_00_dot_94_bar__plus_00_dot_87 - object + 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Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03) + (heatable Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08) + (heatable Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01) + (heatable Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85) + (heatable Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11) + (heatable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12) + (heatable Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53) + (coolable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92) + (coolable Plate_bar__plus_01_dot_39_bar__plus_00_dot_09_bar__plus_00_dot_92) + (coolable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94) + (coolable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_03) + (coolable Bowl_bar__plus_01_dot_50_bar__plus_00_dot_94_bar__plus_01_dot_76) + (coolable Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31) + (coolable Apple_bar__plus_01_dot_52_bar__plus_00_dot_12_bar__plus_02_dot_85) + (coolable Mug_bar__minus_00_dot_89_bar__plus_00_dot_20_bar__minus_00_dot_04) + (coolable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_26) + (coolable Mug_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_01) + (coolable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27) + (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (coolable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55) + (coolable Bowl_bar__minus_00_dot_90_bar__plus_00_dot_56_bar__plus_00_dot_27) + (coolable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04) + (coolable Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95) + (coolable Cup_bar__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_34) + (coolable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03) + (coolable Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01) + (coolable Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85) + (coolable Bowl_bar__minus_01_dot_04_bar__plus_01_dot_95_bar__plus_01_dot_92) + (coolable Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11) + (coolable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12) + (coolable Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53) + + (isCool Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12) + (isCool Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04) + + + + (sliceable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92) + (sliceable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_94) + (sliceable Egg_bar__minus_00_dot_83_bar__plus_01_dot_53_bar__minus_00_dot_03) + (sliceable Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31) + (sliceable Apple_bar__plus_01_dot_52_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_26) + (sliceable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27) + (sliceable Apple_bar__minus_01_dot_02_bar__plus_01_dot_37_bar__plus_00_dot_04) + (sliceable Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95) + (sliceable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__minus_00_dot_03) + (sliceable Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08) + (sliceable Egg_bar__plus_01_dot_42_bar__plus_00_dot_11_bar__plus_02_dot_85) + (sliceable Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__minus_00_dot_11) + (sliceable Apple_bar__minus_00_dot_88_bar__plus_01_dot_55_bar__plus_00_dot_12) + + (inReceptacle Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_26 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle ButterKnife_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 Potato_bar__minus_01_dot_21_bar__plus_00_dot_97_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (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_34_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 Spatula_bar__plus_01_dot_48_bar__plus_00_dot_76_bar__plus_02_dot_46 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle SoapBottle_bar__plus_01_dot_75_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 Mug_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_01 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Cup_bar__plus_01_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_01 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_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_36_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 Spoon_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_00_dot_74 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 PepperShaker_bar__plus_01_dot_47_bar__plus_00_dot_08_bar__plus_02_dot_18 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11) + (inReceptacle DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_10_bar__plus_00_dot_47 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59) + (inReceptacle Bowl_bar__minus_01_dot_04_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) + (inReceptacle Mug_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_53 Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69) + (inReceptacle Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_55 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70) + (inReceptacle Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_92 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_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Fork_bar__minus_00_dot_96_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 Fork_bar__minus_00_dot_71_bar__plus_00_dot_94_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 SaltShaker_bar__minus_01_dot_13_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 Potato_bar__minus_00_dot_79_bar__plus_00_dot_97_bar__plus_01_dot_08 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_92 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle SaltShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Tomato_bar__minus_01_dot_07_bar__plus_01_dot_56_bar__plus_00_dot_27 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_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Bowl_bar__minus_00_dot_90_bar__plus_00_dot_56_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + 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GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Egg_bar__plus_01_dot_36_bar__plus_00_dot_11_bar__plus_02_dot_95 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Cup_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 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"task_desc": "Put a warmed apple in the trash can.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3PJUZCGDJ9XPXMLSJ52V5H4003N89A", + "high_descs": [ + "Turn left, go forward to the wall, turn right, then go towards the trash bin.", + "Take the apple from the trash bin.", + "Turn right, go forward, then turn left at the sink.", + "Heat the apple in the microwave, above the sink.", + "Go left, go forward, then turn right to face the trash bin.", + "Put the apple in the trash bin." + ], + "task_desc": "Put a warm apple in the trash.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3RWE2M8QWKRS4ZKJPB8LU3T2MUVN04", + "high_descs": [ + "Move to the bin on the right past the sink", + "Pick up an apple from the bin", + "Move to the sink to the right of you", + "Heat up the apple in the microwave", + "Move to the bin to the left", + "Put the apple in the bin" + ], + "task_desc": "Put a heated apple in the 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-Apple-None-GarbageCan-12/trial_T20190908_172429_549227/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172429_549227/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d1ee284e0b9f1846547617e3ff013c01985b595f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172429_549227/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 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_172429_549227)\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_59_bar__plus_00_dot_99_bar__plus_00_dot_94 - object\n Apple_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_01_dot_15 - object\n Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_00_dot_69 - object\n 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Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_00_dot_69)\n (sliceable Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_12)\n (sliceable Potato_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_00_dot_81)\n (sliceable Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__plus_00_dot_27)\n (sliceable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_71)\n (sliceable Tomato_bar__minus_01_dot_13_bar__plus_01_dot_00_bar__plus_01_dot_00)\n (sliceable Apple_bar__plus_01_dot_59_bar__plus_00_dot_99_bar__plus_00_dot_94)\n (sliceable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68)\n (sliceable Potato_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__plus_00_dot_04)\n (sliceable Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_00_dot_69)\n \n (inReceptacle Bread_bar__minus_00_dot_91_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 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)\n (inReceptacle DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_16 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle SaltShaker_bar__minus_00_dot_72_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)\n (inReceptacle SaltShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_38 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38)\n (inReceptacle Pan_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 PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_02_dot_46 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39)\n (inReceptacle Potato_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_00_dot_81 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle SoapBottle_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_02 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Apple_bar__plus_01_dot_59_bar__plus_00_dot_99_bar__plus_00_dot_94 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Fork_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_01_dot_35 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle DishSponge_bar__plus_01_dot_35_bar__plus_01_dot_07_bar__plus_00_dot_38 Cabinet_bar__plus_01_dot_22_bar__plus_01_dot_39_bar__plus_00_dot_59)\n (inReceptacle Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_17 Cabinet_bar__plus_01_dot_22_bar__plus_02_dot_01_bar__plus_00_dot_59)\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 Cup_bar__plus_01_dot_70_bar__plus_01_dot_95_bar__plus_01_dot_46 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_01_dot_21)\n (inReceptacle SoapBottle_bar__plus_01_dot_71_bar__plus_01_dot_50_bar__plus_02_dot_22 Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10)\n (inReceptacle SaltShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_01_dot_05 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_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 Apple_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_01_dot_15 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Knife_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Spatula_bar__minus_00_dot_96_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_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_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 ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_92 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Spoon_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Mug_bar__minus_00_dot_88_bar__plus_01_dot_49_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Potato_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__plus_00_dot_27 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_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\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 Spoon_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 loc_bar_2_bar_3_bar_1_bar_45)\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 Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__plus_00_dot_84 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_27 loc_bar_0_bar_0_bar_3_bar_60)\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 Bread_bar__minus_00_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_71_bar__plus_01_dot_50_bar__plus_02_dot_22 loc_bar_4_bar_7_bar_1_bar__minus_15)\n (objectAtLocation Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_25 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_00_dot_81 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__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__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_02 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_01_dot_35 loc_bar_3_bar_8_bar_1_bar_45)\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 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_96_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_59_bar__plus_00_dot_99_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_02_dot_46 loc_bar_2_bar_9_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_17 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_35_bar__plus_01_dot_07_bar__plus_00_dot_38 loc_bar_3_bar_1_bar_1_bar_30)\n (objectAtLocation Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_71 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_70_bar__plus_01_dot_95_bar__plus_01_dot_46 loc_bar_1_bar_5_bar_1_bar__minus_15)\n (objectAtLocation Pan_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 Spoon_bar__plus_01_dot_41_bar__plus_00_dot_95_bar__plus_01_dot_84 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_00_dot_88_bar__plus_01_dot_49_bar__plus_00_dot_04 loc_bar_0_bar_0_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 GarbageCanType)\n (isHot ?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 microwave 1", "heat apple 1 with microwave 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_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172429_549227/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172429_549227/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d9d49cbd84e46aaad5c601aa953484247f361d73 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172429_549227/initial_state.pddl @@ -0,0 +1,1031 @@ + +(define (problem plan_trial_T20190908_172429_549227) +(: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_59_bar__plus_00_dot_99_bar__plus_00_dot_94 - object + Apple_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_01_dot_15 - object + Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_00_dot_69 - object + Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_27 - object + Bowl_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_17 - object + Bread_bar__minus_00_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_27 - object + Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_12 - object + ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_75_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__plus_01_dot_39_bar__plus_00_dot_84_bar__plus_01_dot_40 - object + Cup_bar__plus_01_dot_70_bar__plus_01_dot_95_bar__plus_01_dot_46 - object + DishSponge_bar__plus_01_dot_35_bar__plus_01_dot_07_bar__plus_00_dot_38 - object + DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_16 - object + Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_71 - object + Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_00_dot_69 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + Fork_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_01_dot_35 - object + Fork_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_02_dot_31 - object + Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 - object + Knife_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__plus_00_dot_84 - 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__minus_00_dot_88_bar__plus_01_dot_49_bar__plus_00_dot_04 - object + Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object + PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_02_dot_46 - object + Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_17 - object + Potato_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_00_dot_81 - object + Potato_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__plus_00_dot_04 - object + Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__plus_00_dot_27 - object + Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object + SaltShaker_bar__minus_00_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_25 - object + SaltShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_38 - object + SaltShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_01_dot_05 - object + Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object + SoapBottle_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_02 - object + SoapBottle_bar__plus_01_dot_71_bar__plus_01_dot_50_bar__plus_02_dot_22 - object + Spatula_bar__minus_00_dot_96_bar__plus_00_dot_95_bar__plus_00_dot_69 - object + Spoon_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 - object + Spoon_bar__plus_01_dot_41_bar__plus_00_dot_95_bar__plus_01_dot_84 - 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_01_dot_13_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 + 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CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_16 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle SaltShaker_bar__minus_00_dot_72_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 SaltShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_38 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (inReceptacle Pan_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 PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_02_dot_46 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle Potato_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_00_dot_81 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Knife_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Spatula_bar__minus_00_dot_96_bar__plus_00_dot_95_bar__plus_00_dot_69 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_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_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 ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_92 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Spoon_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Mug_bar__minus_00_dot_88_bar__plus_01_dot_49_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Potato_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__plus_00_dot_27 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_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (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 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 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) + (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 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 loc_bar__minus_1_bar_6_bar_3_bar_45) + (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 Spoon_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 loc_bar_2_bar_3_bar_1_bar_45) + (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) + (objectAtLocation Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_86_bar__plus_00_dot_60_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_01_dot_15 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_86_bar__plus_00_dot_74_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_96_bar__plus_00_dot_96_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_97_bar__plus_01_dot_50_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60) + (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) + (objectAtLocation Bread_bar__minus_00_dot_91_bar__plus_00_dot_99_bar__plus_02_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_71_bar__plus_01_dot_50_bar__plus_02_dot_22 loc_bar_4_bar_7_bar_1_bar__minus_15) + (objectAtLocation Apple_bar__minus_01_dot_13_bar__plus_00_dot_99_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_72_bar__plus_00_dot_74_bar__plus_02_dot_25 loc_bar_0_bar_9_bar_3_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_67_bar__plus_00_dot_97_bar__plus_00_dot_81 loc_bar_3_bar_8_bar_1_bar_45) + (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) + (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) + (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) + (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) + (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) + (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) + (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) + (objectAtLocation SoapBottle_bar__plus_01_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_02 loc_bar_3_bar_8_bar_1_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_97_bar__plus_01_dot_39_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Fork_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_01_dot_35 loc_bar_3_bar_8_bar_1_bar_45) + (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) + (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_96_bar__plus_00_dot_95_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_83_bar__plus_00_dot_74_bar__plus_02_dot_38 loc_bar_0_bar_9_bar_3_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_59_bar__plus_00_dot_99_bar__plus_00_dot_94 loc_bar_3_bar_8_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_31_bar__plus_00_dot_74_bar__plus_02_dot_46 loc_bar_2_bar_9_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_92 loc_bar_2_bar_3_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_07_bar__plus_01_dot_35_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60) + (objectAtLocation Plate_bar__plus_01_dot_38_bar__plus_01_dot_75_bar__plus_00_dot_17 loc_bar_3_bar_1_bar_1_bar__minus_30) + (objectAtLocation DishSponge_bar__plus_01_dot_35_bar__plus_01_dot_07_bar__plus_00_dot_38 loc_bar_3_bar_1_bar_1_bar_30) + (objectAtLocation Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_71 loc_bar_4_bar_5_bar_1_bar_60) + (objectAtLocation Cup_bar__plus_01_dot_70_bar__plus_01_dot_95_bar__plus_01_dot_46 loc_bar_1_bar_5_bar_1_bar__minus_15) + (objectAtLocation Pan_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) + (objectAtLocation Spoon_bar__plus_01_dot_41_bar__plus_00_dot_95_bar__plus_01_dot_84 loc_bar_4_bar_5_bar_1_bar_60) + (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) + (objectAtLocation Mug_bar__minus_00_dot_88_bar__plus_01_dot_49_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o AppleType) + (receptacleType ?r 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-Apple-None-GarbageCan-12/trial_T20190908_172429_549227/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-GarbageCan-12/trial_T20190908_172429_549227/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f0870ab120e93ed176b62ede5dc0ad3e5c045344 --- /dev/null +++ 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89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4247508821, + "scene_num": 12 + }, + "task_id": "trial_T20190908_172429_549227", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_3A1PQ49WVKY01SJQIWH83OFG5BBH1D", + "high_descs": [ + "walk straight, to the counter by the sink", + "grab the apple on the counter", + "walk to the left a little", + "open the microwave, heat the apple in it, take the apple out", + "turn left, walk to the corner trash bin", + "put the apple in the trash bin" + ], + "task_desc": "cook the apple with microwave, put the cooked apple in the trash bin", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3WMINLGALEK5E8LASNW03YB3WDPACY", + "high_descs": [ + "Move to the right and face the counter to the right of the sink.", + "Pick the apple up from the counter.", + "Move to the left to face the microwave.", + "Put the apple in the microwave and turn it on and then off and take the apple back out and shut the door.", + "Go to the left and face the trash can to the right of the counter.", + "Put the apple in the trash can." + ], + "task_desc": "Put a heated apple in the trash can.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3VBEN272MNGMVGN9B9EAEPQOGB7GST", + "high_descs": [ + "move right towards the sink", + "pick up the apple from the right side of the sink", + "turn left towards the microwave ", + "place the apple in the microwave to heat for some time", + "move left towards the bin", + "trash the apple in the bin" + ], + "task_desc": "place a cooked apple in the bin", + "votes": [ + 0, + 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-28/trial_T20190906_180710_251060/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180710_251060/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0d98462360d68f82508586d427ff567b2b61d198 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180710_251060/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_T20190906_180710_251060)\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_56_bar__plus_00_dot_96_bar__minus_00_dot_63 - object\n Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_25 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n 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PepperShaker_bar__minus_01_dot_22_bar__plus_00_dot_75_bar__minus_03_dot_51 - object\n Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_53 - object\n Plate_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_20 - object\n Potato_bar__minus_00_dot_20_bar__plus_01_dot_61_bar__minus_02_dot_04 - object\n Potato_bar__minus_00_dot_74_bar__plus_00_dot_85_bar__minus_03_dot_59 - object\n Potato_bar__minus_01_dot_11_bar__plus_00_dot_97_bar__minus_03_dot_80 - object\n Pot_bar__minus_00_dot_61_bar__plus_00_dot_80_bar__minus_03_dot_42 - object\n SaltShaker_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19 - object\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object\n SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_20 - object\n SoapBottle_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_46 - object\n Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_36 - object\n Spatula_bar__minus_00_dot_39_bar__plus_00_dot_96_bar__minus_01_dot_49 - object\n Spatula_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_46 - object\n Spoon_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_20 - object\n Spoon_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_20 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 - object\n StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 - object\n Tomato_bar__minus_02_dot_42_bar__plus_00_dot_15_bar__minus_03_dot_57 - object\n Tomato_bar__minus_04_dot_00_bar__plus_00_dot_74_bar__minus_00_dot_43 - object\n Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 - object\n Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 - receptacle\n Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 - receptacle\n Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 - receptacle\n Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 - receptacle\n CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 - receptacle\n 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location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar__minus_12_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - 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_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - 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_6_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_9_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType)\n (receptacleType SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 SideTableType)\n (receptacleType Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 CabinetType)\n (receptacleType 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(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 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 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 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 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 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 CoffeeMachineType MugType)\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 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Mug_bar__minus_00_dot_17_bar__plus_01_dot_50_bar__minus_03_dot_05)\n (cleanable Spoon_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_20)\n (cleanable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24)\n \n (heatable Mug_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57)\n (heatable Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_53)\n (heatable Plate_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_20)\n (heatable Tomato_bar__minus_02_dot_42_bar__plus_00_dot_15_bar__minus_03_dot_57)\n (heatable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_58)\n (heatable Bread_bar__minus_03_dot_58_bar__plus_00_dot_84_bar__minus_03_dot_20)\n (heatable Potato_bar__minus_01_dot_11_bar__plus_00_dot_97_bar__minus_03_dot_80)\n (heatable Cup_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_02_dot_85)\n (heatable Mug_bar__minus_00_dot_20_bar__plus_01_dot_93_bar__minus_02_dot_18)\n (heatable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_25)\n (heatable Tomato_bar__minus_04_dot_00_bar__plus_00_dot_74_bar__minus_00_dot_43)\n (heatable Potato_bar__minus_00_dot_74_bar__plus_00_dot_85_bar__minus_03_dot_59)\n (heatable Egg_bar__minus_03_dot_79_bar__plus_00_dot_80_bar__minus_03_dot_33)\n (heatable Potato_bar__minus_00_dot_20_bar__plus_01_dot_61_bar__minus_02_dot_04)\n (heatable Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_63)\n (heatable Mug_bar__minus_00_dot_17_bar__plus_01_dot_50_bar__minus_03_dot_05)\n (coolable Mug_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57)\n (coolable Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_53)\n (coolable Plate_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_20)\n (coolable Tomato_bar__minus_02_dot_42_bar__plus_00_dot_15_bar__minus_03_dot_57)\n (coolable Pot_bar__minus_00_dot_61_bar__plus_00_dot_80_bar__minus_03_dot_42)\n (coolable Lettuce_bar__minus_03_dot_47_bar__plus_00_dot_85_bar__minus_03_dot_77)\n (coolable Lettuce_bar__minus_00_dot_24_bar__plus_01_dot_03_bar__minus_03_dot_02)\n (coolable Bowl_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_99)\n (coolable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_58)\n (coolable Pan_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85)\n (coolable Bread_bar__minus_03_dot_58_bar__plus_00_dot_84_bar__minus_03_dot_20)\n (coolable Potato_bar__minus_01_dot_11_bar__plus_00_dot_97_bar__minus_03_dot_80)\n (coolable Cup_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_02_dot_85)\n (coolable Mug_bar__minus_00_dot_20_bar__plus_01_dot_93_bar__minus_02_dot_18)\n (coolable Lettuce_bar__minus_04_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_43)\n (coolable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_25)\n (coolable Tomato_bar__minus_04_dot_00_bar__plus_00_dot_74_bar__minus_00_dot_43)\n (coolable Potato_bar__minus_00_dot_74_bar__plus_00_dot_85_bar__minus_03_dot_59)\n (coolable Bowl_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_03_dot_40)\n (coolable Egg_bar__minus_03_dot_79_bar__plus_00_dot_80_bar__minus_03_dot_33)\n (coolable Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_53)\n (coolable Potato_bar__minus_00_dot_20_bar__plus_01_dot_61_bar__minus_02_dot_04)\n (coolable Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_63)\n (coolable Mug_bar__minus_00_dot_17_bar__plus_01_dot_50_bar__minus_03_dot_05)\n (coolable Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24)\n \n \n \n \n \n (sliceable Tomato_bar__minus_02_dot_42_bar__plus_00_dot_15_bar__minus_03_dot_57)\n (sliceable Lettuce_bar__minus_03_dot_47_bar__plus_00_dot_85_bar__minus_03_dot_77)\n (sliceable Lettuce_bar__minus_00_dot_24_bar__plus_01_dot_03_bar__minus_03_dot_02)\n (sliceable Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_58)\n (sliceable Bread_bar__minus_03_dot_58_bar__plus_00_dot_84_bar__minus_03_dot_20)\n (sliceable Potato_bar__minus_01_dot_11_bar__plus_00_dot_97_bar__minus_03_dot_80)\n (sliceable Lettuce_bar__minus_04_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_43)\n (sliceable Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_25)\n (sliceable Tomato_bar__minus_04_dot_00_bar__plus_00_dot_74_bar__minus_00_dot_43)\n (sliceable Potato_bar__minus_00_dot_74_bar__plus_00_dot_85_bar__minus_03_dot_59)\n (sliceable Egg_bar__minus_03_dot_79_bar__plus_00_dot_80_bar__minus_03_dot_33)\n (sliceable Potato_bar__minus_00_dot_20_bar__plus_01_dot_61_bar__minus_02_dot_04)\n (sliceable Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_63)\n \n (inReceptacle Potato_bar__minus_01_dot_11_bar__plus_00_dot_97_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Lettuce_bar__minus_00_dot_24_bar__plus_01_dot_03_bar__minus_03_dot_02 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Knife_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_73 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle Fork_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_02_dot_67 CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle ButterKnife_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_55 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SoapBottle_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Plate_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spoon_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_63 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spoon_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_20 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Spatula_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Lettuce_bar__minus_03_dot_47_bar__plus_00_dot_85_bar__minus_03_dot_77 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Bread_bar__minus_03_dot_58_bar__plus_00_dot_84_bar__minus_03_dot_20 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Bowl_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_03_dot_40 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Mug_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Egg_bar__minus_03_dot_79_bar__plus_00_dot_80_bar__minus_03_dot_33 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Cup_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_02_dot_85 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Knife_bar__minus_03_dot_49_bar__plus_00_dot_79_bar__minus_03_dot_53 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pan_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pan_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Knife_bar__minus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_69 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle PepperShaker_bar__minus_01_dot_22_bar__plus_00_dot_75_bar__minus_03_dot_51 Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50)\n (inReceptacle Mug_bar__minus_00_dot_20_bar__plus_01_dot_93_bar__minus_02_dot_18 Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50)\n (inReceptacle Mug_bar__minus_00_dot_17_bar__plus_01_dot_50_bar__minus_03_dot_05 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51)\n (inReceptacle DishSponge_bar__minus_04_dot_24_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle SaltShaker_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Lettuce_bar__minus_04_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Tomato_bar__minus_04_dot_00_bar__plus_00_dot_74_bar__minus_00_dot_43 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_58 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_36 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Spatula_bar__minus_00_dot_39_bar__plus_00_dot_96_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Tomato_bar__minus_02_dot_42_bar__plus_00_dot_15_bar__minus_03_dot_57 GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54)\n (inReceptacle Potato_bar__minus_00_dot_74_bar__plus_00_dot_85_bar__minus_03_dot_59 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Pot_bar__minus_00_dot_61_bar__plus_00_dot_80_bar__minus_03_dot_42 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Bowl_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_99 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_53 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_53 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Potato_bar__minus_00_dot_20_bar__plus_01_dot_61_bar__minus_02_dot_04 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 loc_bar__minus_6_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_10_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 loc_bar__minus_10_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (receptacleAtLocation SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 loc_bar__minus_8_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_03_dot_40 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_17_bar__plus_01_dot_50_bar__minus_03_dot_05 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (objectAtLocation Lettuce_bar__minus_04_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_58 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_20_bar__plus_01_dot_61_bar__minus_02_dot_04 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_25 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_69 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_04_dot_00_bar__plus_00_dot_74_bar__minus_00_dot_43 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Mug_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_47_bar__plus_00_dot_85_bar__minus_03_dot_77 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_53 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_49_bar__plus_00_dot_79_bar__minus_03_dot_53 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_11_bar__plus_00_dot_97_bar__minus_03_dot_80 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_61_bar__plus_00_dot_80_bar__minus_03_dot_42 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_02_dot_67 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_02_dot_85 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_42_bar__plus_00_dot_15_bar__minus_03_dot_57 loc_bar__minus_10_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 loc_bar__minus_6_bar__minus_12_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 loc_bar__minus_15_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_03_dot_58_bar__plus_00_dot_84_bar__minus_03_dot_20 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_39_bar__plus_00_dot_96_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_73 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_22_bar__plus_00_dot_75_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_55 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_56_bar__plus_00_dot_96_bar__minus_00_dot_63 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_04_dot_24_bar__plus_00_dot_69_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_74_bar__plus_00_dot_85_bar__minus_03_dot_59 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Egg_bar__minus_03_dot_79_bar__plus_00_dot_80_bar__minus_03_dot_33 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_20 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_24_bar__plus_01_dot_03_bar__minus_03_dot_02 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_20_bar__plus_01_dot_93_bar__minus_02_dot_18 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_99 loc_bar__minus_5_bar__minus_3_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 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 2", "take apple 2 from diningtable 2", "go to microwave 1", "heat apple 2 with microwave 1", "go to sidetable 1", "move apple 2 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-28/trial_T20190906_180710_251060/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180710_251060/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ed04d4a69ab71b19cddb401c2b69143022050aa4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180710_251060/initial_state.pddl @@ -0,0 +1,1000 @@ + +(define (problem plan_trial_T20190906_180710_251060) +(: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_56_bar__plus_00_dot_96_bar__minus_00_dot_63 - object + Apple_bar__minus_04_dot_06_bar__plus_00_dot_75_bar__minus_00_dot_25 - object + Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object + Bowl_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_99 - object + Bowl_bar__minus_00_dot_38_bar__plus_01_dot_28_bar__minus_00_dot_53 - object + Bowl_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_03_dot_40 - object + Bread_bar__minus_03_dot_58_bar__plus_00_dot_84_bar__minus_03_dot_20 - object + ButterKnife_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_55 - object + ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 - object + Cup_bar__minus_03_dot_71_bar__plus_00_dot_76_bar__minus_02_dot_85 - object + DishSponge_bar__minus_04_dot_24_bar__plus_00_dot_69_bar__minus_00_dot_19 - object + Egg_bar__minus_00_dot_24_bar__plus_00_dot_98_bar__minus_01_dot_58 - object + Egg_bar__minus_03_dot_79_bar__plus_00_dot_80_bar__minus_03_dot_33 - object + Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object + Fork_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_02_dot_67 - object + Knife_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_73 - object + Knife_bar__minus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_69 - object + Knife_bar__minus_03_dot_49_bar__plus_00_dot_79_bar__minus_03_dot_53 - object + Lettuce_bar__minus_00_dot_24_bar__plus_01_dot_03_bar__minus_03_dot_02 - object + Lettuce_bar__minus_03_dot_47_bar__plus_00_dot_85_bar__minus_03_dot_77 - object + Lettuce_bar__minus_04_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_43 - object + LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object + Mug_bar__minus_00_dot_17_bar__plus_01_dot_50_bar__minus_03_dot_05 - object + Mug_bar__minus_00_dot_20_bar__plus_01_dot_93_bar__minus_02_dot_18 - object + Mug_bar__minus_03_dot_84_bar__plus_00_dot_76_bar__minus_03_dot_57 - object + Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_02_dot_24 - object + Pan_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_01_dot_85 - object + PepperShaker_bar__minus_01_dot_22_bar__plus_00_dot_75_bar__minus_03_dot_51 - object + Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_53 - object + Plate_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_20 - object + Potato_bar__minus_00_dot_20_bar__plus_01_dot_61_bar__minus_02_dot_04 - object + Potato_bar__minus_00_dot_74_bar__plus_00_dot_85_bar__minus_03_dot_59 - object + Potato_bar__minus_01_dot_11_bar__plus_00_dot_97_bar__minus_03_dot_80 - object + Pot_bar__minus_00_dot_61_bar__plus_00_dot_80_bar__minus_03_dot_42 - object + SaltShaker_bar__minus_03_dot_94_bar__plus_00_dot_69_bar__minus_00_dot_19 - object + Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object + SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_20 - object + SoapBottle_bar__minus_03_dot_16_bar__plus_00_dot_89_bar__minus_00_dot_46 - object + Spatula_bar__minus_00_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_36 - object + Spatula_bar__minus_00_dot_39_bar__plus_00_dot_96_bar__minus_01_dot_49 - object + Spatula_bar__minus_03_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_46 - object + Spoon_bar__minus_02_dot_36_bar__plus_00_dot_90_bar__minus_00_dot_20 - object + Spoon_bar__minus_02_dot_56_bar__plus_00_dot_90_bar__minus_00_dot_20 - object + 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Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 - receptacle + Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 - receptacle + Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 - receptacle + CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 - receptacle + CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 - receptacle + CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 - receptacle + DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 - receptacle + DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 - receptacle + 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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_6_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_16_bar__minus_9_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType) + (receptacleType SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 SideTableType) + (receptacleType Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 CabinetType) + (receptacleType Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin SinkBasinType) + (receptacleType DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 DiningTableType) + (receptacleType Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 CabinetType) + 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(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-28/trial_T20190906_180710_251060/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180710_251060/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a854117bb47d15b153548f97d81160c05c681a21 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180710_251060/traj_data.json @@ -0,0 +1,7211 @@ +{ + "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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+ "z": 0.0 + } + }, + { + "objectName": "DishSponge_7e2c9e01", + "position": { + "x": -4.24255562, + "y": 0.690860569, + "z": -0.187332 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5e3edff7", + "position": { + "x": -0.201238275, + "y": 1.60742819, + "z": -2.04372525 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Egg_571582a1", + "position": { + "x": -0.236659765, + "y": 0.9823668, + "z": -1.58196974 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_7dcfa4cd", + "position": { + "x": -2.56082344, + "y": 0.895750165, + "z": -0.204986483 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_ec37c659", + "position": { + "x": -4.182487, + "y": 0.782280743, + "z": -0.4306679 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f3c7368a", + "position": { + "x": -0.17396453, + "y": 1.49763739, + "z": -3.05265713 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_1f51c27f", + "position": { + "x": -3.92534733, + "y": 0.758396447, + "z": -3.39901733 + }, + "rotation": { + "x": 0.0, + "y": 244.125916, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3306812994, + "scene_num": 28 + }, + "task_id": "trial_T20190906_180710_251060", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_32SVAV9L3IQH18PRZULZAV79Q88A3C", + "high_descs": [ + "Turn to your right and go to the small, black table in the corner. ", + "Pick up the apple that is on the black table between the sponge and the salt. ", + "Turn to your right and walk across the room to the stove. ", + "Place the apple in the microwave, heat it up, then remove it from the microwave. ", + "Turn around and walk across the room, then turn right and walk back to the small, black table in the corner.", + "Put the apple on the small, black table, to the right of the tomato. " + ], + "task_desc": "Put a warm apple on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_35DR22AR5G1TXLXKA4DDU3I7RTJ3XB", + "high_descs": [ + "Turn to the right and face the small black table next to the white table.", + "Pick the apple up from the table.", + "Turn around and cross the room to stand in front of the microwave above the stove.", + "Put the apple in the microwave and turn it on and then open the door and take the apple out and shut the door.", + "Turn around and cross the room and turn right to stand in front of the small black table.", + "Put the apple on the black table." + ], + "task_desc": "Put a warmed apple on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_37TRT2X24T8X5WW88TDILD844NEJBR", + "high_descs": [ + "Turn right, go to the small black table.", + "Pick up the apple on the table. ", + "Turn around, bring the apple to the left, to the microwave over the stove.", + "Heat the apple in the microwave. ", + "Bring the heated apple back across the room to the small black table on the right.", + "Put the heated apple on the small black table." + ], + "task_desc": "Put a heated apple on the small black table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3F6HPJW4JGHPN3WBWZ3M9AZ790WW2O", + "high_descs": [ + "Turn right and walk to the black table.", + "Pick the apple up off of the table.", + "Turn around and walk to the microwave above the store.", + "Open the microwave, heat the apple, and then take it out of the microwave again.", + "Turn around and head back to the black table.", + "Place the apple back on the table to the right of the tomato." + ], + "task_desc": "Put a cooked apple on a black table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3PH3VY7DJOEFTEZNL6C0WL9EUBBWZG", + "high_descs": [ + "Turn right towards the small black table.", + "Pick up the apple from the table.", + "Turn around towards the round table and make a left towards the oven.", + "Heat the apple in the microwave and take out the apple.", + "Turn around towards the small black table on the right.", + "Place the apple to the right of the tomato on the table." + ], + "task_desc": "Heat up the apple from the black table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3WQQ9FUS6DB8LF0PHPGRWNZPL0G8BZ", + "high_descs": [ + "Turn right and approach the small dark side table", + "Pick up the red apple from the table", + "Turn around and walk over to the microwave", + "Place the apple into the microwave and cook it", + "Turn around and walk back to the small dark side table", + "Place the apple down on the side table" + ], + "task_desc": "Cook the apple in 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-28/trial_T20190906_180737_225131/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180737_225131/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..973ae99cade980211db8819f96823a672a73a8aa --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180737_225131/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_T20190906_180737_225131)\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_65_bar__plus_00_dot_82_bar__minus_03_dot_80 - object\n Apple_bar__minus_03_dot_94_bar__plus_00_dot_75_bar__minus_00_dot_25 - object\n Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_19 - object\n Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object\n Bowl_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_38 - object\n Bread_bar__minus_03_dot_34_bar__plus_00_dot_84_bar__minus_03_dot_19 - object\n Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_63 - object\n ButterKnife_bar__minus_00_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_49 - object\n ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 - object\n Cup_bar__minus_00_dot_17_bar__plus_01_dot_58_bar__minus_02_dot_10 - object\n Cup_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_41 - object\n Cup_bar__minus_00_dot_42_bar__plus_01_dot_29_bar__minus_00_dot_41 - object\n DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_36 - object\n DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_45 - object\n DishSponge_bar__minus_01_dot_12_bar__plus_00_dot_75_bar__minus_03_dot_51 - object\n Egg_bar__minus_03_dot_94_bar__plus_00_dot_73_bar__minus_00_dot_13 - object\n Egg_bar__minus_03_dot_98_bar__plus_00_dot_80_bar__minus_03_dot_29 - object\n Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object\n Fork_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_01_dot_41 - object\n Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 - object\n Knife_bar__minus_03_dot_72_bar__plus_00_dot_79_bar__minus_03_dot_61 - object\n Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_49 - object\n Lettuce_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__minus_02_dot_61 - object\n LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object\n Mug_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 - object\n Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object\n PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_33 - object\n PepperShaker_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_38 - object\n PepperShaker_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_49 - object\n Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_65 - object\n Plate_bar__minus_00_dot_51_bar__plus_00_dot_09_bar__minus_02_dot_79 - object\n Plate_bar__minus_03_dot_37_bar__plus_00_dot_77_bar__minus_03_dot_54 - object\n Potato_bar__minus_03_dot_65_bar__plus_00_dot_79_bar__minus_02_dot_82 - object\n Potato_bar__minus_03_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_38 - object\n Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_02_dot_24 - object\n SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_74 - object\n SaltShaker_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_63 - object\n SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_29 - object\n Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object\n 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loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar__minus_10_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_15 - location\n loc_bar__minus_12_bar__minus_5_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_14_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_4_bar_3_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_2_bar_45 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_45 - 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_4_bar__minus_9_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_15_bar__minus_5_bar_0_bar_45 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - 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_6_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_16_bar__minus_9_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType)\n (receptacleType SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 SideTableType)\n 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CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67)\n (inReceptacle PepperShaker_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Tomato_bar__minus_02_dot_76_bar__plus_00_dot_95_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_63 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Bowl_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_38 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle Mug_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_29 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44)\n (inReceptacle SoapBottle_bar__minus_04_dot_04_bar__plus_00_dot_76_bar__minus_03_dot_11 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Bread_bar__minus_03_dot_34_bar__plus_00_dot_84_bar__minus_03_dot_19 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Egg_bar__minus_03_dot_98_bar__plus_00_dot_80_bar__minus_03_dot_29 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Plate_bar__minus_03_dot_37_bar__plus_00_dot_77_bar__minus_03_dot_54 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Potato_bar__minus_03_dot_65_bar__plus_00_dot_79_bar__minus_02_dot_82 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle SoapBottle_bar__minus_03_dot_65_bar__plus_00_dot_76_bar__minus_03_dot_68 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Apple_bar__minus_03_dot_65_bar__plus_00_dot_82_bar__minus_03_dot_80 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Potato_bar__minus_03_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_38 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Spoon_bar__minus_03_dot_94_bar__plus_00_dot_76_bar__minus_02_dot_96 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Knife_bar__minus_03_dot_72_bar__plus_00_dot_79_bar__minus_03_dot_61 DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Fork_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_01_dot_41 Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45)\n (inReceptacle SaltShaker_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_63 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_74 Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74)\n (inReceptacle DishSponge_bar__minus_01_dot_12_bar__plus_00_dot_75_bar__minus_03_dot_51 Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50)\n (inReceptacle SoapBottle_bar__minus_00_dot_38_bar__plus_01_dot_50_bar__minus_03_dot_71 Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29)\n (inReceptacle Plate_bar__minus_00_dot_51_bar__plus_00_dot_09_bar__minus_02_dot_79 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51)\n (inReceptacle DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_45 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61)\n (inReceptacle PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_33 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61)\n (inReceptacle Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Egg_bar__minus_03_dot_94_bar__plus_00_dot_73_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Spatula_bar__minus_04_dot_06_bar__plus_00_dot_71_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle Apple_bar__minus_03_dot_94_bar__plus_00_dot_75_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle PepperShaker_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31)\n (inReceptacle ButterKnife_bar__minus_00_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Spoon_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_58 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_36 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45)\n (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24)\n (inReceptacle Spatula_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_03_dot_63 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Tomato_bar__minus_00_dot_29_bar__plus_01_dot_34_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Cup_bar__minus_00_dot_42_bar__plus_01_dot_29_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_65 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65)\n (inReceptacle Cup_bar__minus_00_dot_17_bar__plus_01_dot_58_bar__minus_02_dot_10 Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 loc_bar__minus_6_bar__minus_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 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loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_03_dot_94_bar__plus_00_dot_73_bar__minus_00_dot_13 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_38 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_12_bar__plus_00_dot_75_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_12_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_19 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_74 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_03_dot_63 loc_bar__minus_8_bar__minus_11_bar_1_bar_30)\n (objectAtLocation Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_63 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_65 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_29_bar__plus_01_dot_34_bar__minus_00_dot_76 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_41 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_04_dot_04_bar__plus_00_dot_76_bar__minus_03_dot_11 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_94_bar__plus_00_dot_75_bar__minus_00_dot_25 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_33 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_63 loc_bar__minus_5_bar__minus_10_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_38_bar__plus_01_dot_50_bar__minus_03_dot_71 loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15)\n (objectAtLocation Knife_bar__minus_03_dot_72_bar__plus_00_dot_79_bar__minus_03_dot_61 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_51_bar__plus_00_dot_09_bar__minus_02_dot_79 loc_bar__minus_6_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_42_bar__plus_01_dot_29_bar__minus_00_dot_41 loc_bar__minus_5_bar__minus_3_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_45 loc_bar__minus_6_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_65_bar__plus_00_dot_76_bar__minus_03_dot_68 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_02_dot_24 loc_bar__minus_4_bar__minus_9_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_17_bar__plus_01_dot_58_bar__minus_02_dot_10 loc_bar__minus_4_bar__minus_8_bar_1_bar_15)\n (objectAtLocation Tomato_bar__minus_02_dot_76_bar__plus_00_dot_95_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_37_bar__plus_00_dot_77_bar__minus_03_dot_54 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 loc_bar__minus_6_bar__minus_12_bar_2_bar_0)\n (objectAtLocation LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 loc_bar__minus_15_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_03_dot_34_bar__plus_00_dot_84_bar__minus_03_dot_19 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_04_dot_06_bar__plus_00_dot_71_bar__minus_00_dot_37 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_29 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_49 loc_bar__minus_15_bar__minus_5_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_03_dot_65_bar__plus_00_dot_82_bar__minus_03_dot_80 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_65_bar__plus_00_dot_79_bar__minus_02_dot_82 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_03_dot_98_bar__plus_00_dot_80_bar__minus_03_dot_29 loc_bar__minus_14_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_58 loc_bar__minus_4_bar__minus_6_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__minus_02_dot_61 loc_bar__minus_6_bar__minus_12_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 loc_bar__minus_12_bar__minus_5_bar_0_bar_60)\n (objectAtLocation Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 loc_bar__minus_6_bar__minus_12_bar_2_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_38 loc_bar__minus_12_bar__minus_5_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 1", "take apple 3 from diningtable 1", "go to microwave 1", "heat apple 3 with microwave 1", "go to sidetable 1", "move apple 3 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-28/trial_T20190906_180737_225131/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180737_225131/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..47cc04698ff80ac98407c5777aba5276e45c1736 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180737_225131/initial_state.pddl @@ -0,0 +1,1007 @@ + +(define (problem plan_trial_T20190906_180737_225131) +(: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_65_bar__plus_00_dot_82_bar__minus_03_dot_80 - object + Apple_bar__minus_03_dot_94_bar__plus_00_dot_75_bar__minus_00_dot_25 - object + Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_19 - object + Blinds_bar__minus_01_dot_37_bar__plus_02_dot_21_bar__minus_03_dot_96 - object + Bowl_bar__minus_02_dot_56_bar__plus_00_dot_89_bar__minus_00_dot_38 - object + Bread_bar__minus_03_dot_34_bar__plus_00_dot_84_bar__minus_03_dot_19 - object + Bread_bar__minus_03_dot_57_bar__plus_00_dot_98_bar__minus_00_dot_63 - object + ButterKnife_bar__minus_00_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_49 - object + ButterKnife_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 - object + Cup_bar__minus_00_dot_17_bar__plus_01_dot_58_bar__minus_02_dot_10 - object + Cup_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_41 - object + Cup_bar__minus_00_dot_42_bar__plus_01_dot_29_bar__minus_00_dot_41 - object + DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_36 - object + DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_45 - object + DishSponge_bar__minus_01_dot_12_bar__plus_00_dot_75_bar__minus_03_dot_51 - object + Egg_bar__minus_03_dot_94_bar__plus_00_dot_73_bar__minus_00_dot_13 - object + Egg_bar__minus_03_dot_98_bar__plus_00_dot_80_bar__minus_03_dot_29 - object + Faucet_bar__minus_00_dot_39_bar__plus_00_dot_93_bar__minus_03_dot_61 - object + Fork_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__minus_01_dot_41 - object + Knife_bar__minus_03_dot_16_bar__plus_00_dot_92_bar__minus_00_dot_38 - object + Knife_bar__minus_03_dot_72_bar__plus_00_dot_79_bar__minus_03_dot_61 - object + Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_49 - object + Lettuce_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__minus_02_dot_61 - object + LightSwitch_bar__minus_04_dot_37_bar__plus_01_dot_49_bar__minus_01_dot_03 - object + Mug_bar__minus_02_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_46 - object + Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 - object + PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_33 - object + PepperShaker_bar__minus_03_dot_36_bar__plus_00_dot_89_bar__minus_00_dot_38 - object + PepperShaker_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_49 - object + Plate_bar__minus_00_dot_32_bar__plus_01_dot_50_bar__minus_00_dot_65 - object + Plate_bar__minus_00_dot_51_bar__plus_00_dot_09_bar__minus_02_dot_79 - object + Plate_bar__minus_03_dot_37_bar__plus_00_dot_77_bar__minus_03_dot_54 - object + Potato_bar__minus_03_dot_65_bar__plus_00_dot_79_bar__minus_02_dot_82 - object + Potato_bar__minus_03_dot_73_bar__plus_00_dot_79_bar__minus_03_dot_38 - object + Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_02_dot_24 - object + SaltShaker_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_02_dot_74 - object + SaltShaker_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_02_dot_63 - object + SaltShaker_bar__minus_02_dot_76_bar__plus_00_dot_89_bar__minus_00_dot_29 - object + Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39 - object + SoapBottle_bar__minus_00_dot_38_bar__plus_01_dot_50_bar__minus_03_dot_71 - object + SoapBottle_bar__minus_03_dot_65_bar__plus_00_dot_76_bar__minus_03_dot_68 - object + SoapBottle_bar__minus_04_dot_04_bar__plus_00_dot_76_bar__minus_03_dot_11 - object + Spatula_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_03_dot_63 - object + Spatula_bar__minus_04_dot_06_bar__plus_00_dot_71_bar__minus_00_dot_37 - object + Spoon_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_58 - object + Spoon_bar__minus_03_dot_94_bar__plus_00_dot_76_bar__minus_02_dot_96 - object + StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_83 - object + StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_01_dot_98 - object + StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_13 - object + StoveKnob_bar__minus_00_dot_62_bar__plus_00_dot_90_bar__minus_02_dot_29 - object + Tomato_bar__minus_00_dot_29_bar__plus_01_dot_34_bar__minus_00_dot_76 - object + Tomato_bar__minus_02_dot_76_bar__plus_00_dot_95_bar__minus_00_dot_46 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_61_bar__minus_04_dot_11 - object + Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_89_bar__minus_02_dot_51 - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_01_dot_89_bar__minus_01_dot_29 - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_27 - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_01_dot_63 - receptacle + Cabinet_bar__minus_00_dot_34_bar__plus_02_dot_11_bar__minus_02_dot_50 - receptacle + Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51 - receptacle + Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_03_dot_01 - receptacle + Cabinet_bar__minus_01_dot_01_bar__plus_00_dot_39_bar__minus_03_dot_37 - receptacle + CoffeeMachine_bar__minus_02_dot_51_bar__plus_00_dot_93_bar__minus_03_dot_80 - receptacle + CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45 - receptacle + CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 - receptacle + DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 - receptacle + DiningTable_bar__minus_03_dot_62_bar__plus_00_dot_67_bar__minus_03_dot_32 - receptacle + Drawer_bar__minus_00_dot_48_bar__plus_00_dot_78_bar__minus_02_dot_74 - receptacle + Drawer_bar__minus_00_dot_50_bar__plus_00_dot_78_bar__minus_01_dot_45 - receptacle + Drawer_bar__minus_01_dot_15_bar__plus_00_dot_78_bar__minus_03_dot_50 - receptacle + Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65 - receptacle + GarbageCan_bar__minus_02_dot_42_bar__plus_00_dot_00_bar__minus_03_dot_54 - receptacle + Microwave_bar__minus_00_dot_22_bar__plus_01_dot_47_bar__minus_02_dot_06 - receptacle + SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 - receptacle + Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle + StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle + StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_01_dot_85 - receptacle + StoveBurner_bar__minus_00_dot_44_bar__plus_00_dot_92_bar__minus_02_dot_24 - receptacle + Toaster_bar__minus_01_dot_97_bar__plus_00_dot_93_bar__minus_03_dot_76 - receptacle + loc_bar__minus_6_bar__minus_12_bar_2_bar_0 - location + loc_bar__minus_6_bar__minus_4_bar_1_bar__minus_15 - location + loc_bar__minus_8_bar__minus_11_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_6_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_6_bar__minus_12_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_15 - location + loc_bar__minus_12_bar__minus_5_bar_0_bar_60 - location + 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loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location + loc_bar__minus_10_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - 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_6_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_16_bar__minus_9_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType CounterTop_bar__minus_01_dot_94_bar__plus_00_dot_98_bar__minus_03_dot_67 CounterTopType) + (receptacleType SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31 SideTableType) + (receptacleType Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29 CabinetType) + (receptacleType Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin SinkBasinType) + (receptacleType DiningTable_bar__minus_03_dot_03_bar__plus_00_dot_00_bar__minus_00_dot_44 DiningTableType) + (receptacleType 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Cabinet_bar__minus_00_dot_35_bar__plus_01_dot_89_bar__minus_03_dot_29) + (inReceptacle Plate_bar__minus_00_dot_51_bar__plus_00_dot_09_bar__minus_02_dot_79 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_02_dot_51) + (inReceptacle DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_45 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61) + (inReceptacle PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_08_bar__minus_01_dot_33 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__minus_01_dot_61) + (inReceptacle Knife_bar__minus_04_dot_06_bar__plus_00_dot_72_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Egg_bar__minus_03_dot_94_bar__plus_00_dot_73_bar__minus_00_dot_13 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Apple_bar__minus_04_dot_18_bar__plus_00_dot_75_bar__minus_00_dot_19 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Spatula_bar__minus_04_dot_06_bar__plus_00_dot_71_bar__minus_00_dot_37 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle Apple_bar__minus_03_dot_94_bar__plus_00_dot_75_bar__minus_00_dot_25 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle PepperShaker_bar__minus_03_dot_88_bar__plus_00_dot_69_bar__minus_00_dot_49 SideTable_bar__minus_04_dot_07_bar__plus_00_dot_73_bar__minus_00_dot_31) + (inReceptacle ButterKnife_bar__minus_00_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Pan_bar__minus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_85 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Spoon_bar__minus_00_dot_47_bar__plus_00_dot_94_bar__minus_01_dot_58 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle DishSponge_bar__minus_00_dot_24_bar__plus_00_dot_94_bar__minus_01_dot_36 CounterTop_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__minus_01_dot_45) + (inReceptacle Pot_bar__minus_00_dot_44_bar__plus_00_dot_96_bar__minus_02_dot_24 StoveBurner_bar__minus_00_dot_22_bar__plus_00_dot_92_bar__minus_02_dot_24) + (inReceptacle Spatula_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_03_dot_63 Sink_bar__minus_00_dot_60_bar__plus_00_dot_93_bar__minus_03_dot_39_bar_SinkBasin) + (inReceptacle Cup_bar__minus_00_dot_28_bar__plus_01_dot_49_bar__minus_00_dot_41 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Tomato_bar__minus_00_dot_29_bar__plus_01_dot_34_bar__minus_00_dot_76 Fridge_bar__minus_00_dot_31_bar__plus_00_dot_00_bar__minus_00_dot_65) + (inReceptacle Cup_bar__minus_00_dot_42_bar__plus_01_dot_29_bar__minus_00_dot_41 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(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-28/trial_T20190906_180737_225131/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180737_225131/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..281d0b136474203d418503afc88926343193c19b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Apple-None-SideTable-28/trial_T20190906_180737_225131/traj_data.json @@ -0,0 +1,7566 @@ +{ + "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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109.125885, + "z": 0.0 + } + }, + { + "objectName": "Pot_c7418f98", + "position": { + "x": -0.4374, + "y": 0.961999953, + "z": -2.243 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_938fe393", + "position": { + "x": -0.465918332, + "y": 0.7478147, + "z": -1.41347528 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_41873c33", + "position": { + "x": -0.283440381, + "y": 1.48941362, + "z": -0.413377672 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Tomato_b1760e7a", + "position": { + "x": -0.293651253, + "y": 1.33736539, + "z": -0.7623111 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pan_d1250561", + "position": { + "x": -0.2221, + "y": 0.961999953, + "z": -1.8457 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Plate_ba5a8c1e", + "position": { + "x": -0.3213089, + "y": 1.50284219, + "z": -0.646000147 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Bread_4d72833d", + "position": { + "x": -3.565363, + "y": 0.9760524, + "z": -0.633825362 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Spatula_1d69618b", + "position": { + "x": -0.701052666, + "y": 0.8286589, + "z": -3.62790728 + }, + "rotation": { + "x": 9.92312057e-15, + "y": 45.0000343, + "z": 9.923131e-15 + } + }, + { + "objectName": "Knife_1b546504", + "position": { + "x": -3.16354656, + "y": 0.9202391, + "z": -0.376520932 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_6f13b4f9", + "position": { + "x": -0.440981239, + "y": 0.7472739, + "z": -2.739169 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_8ae9f292", + "position": { + "x": -3.36445379, + "y": 0.890926957, + "z": -0.3765198 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_e676ac70", + "position": { + "x": -3.36445427, + "y": 0.894662857, + "z": -0.462288678 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Apple_4eadea0d", + "position": { + "x": -4.182487, + "y": 0.7519119, + "z": -0.187332019 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_7e2c9e01", + "position": { + "x": -1.12382162, + "y": 0.753558338, + "z": -3.50540018 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_5e3edff7", + "position": { + "x": -3.73294759, + "y": 0.79206425, + "z": -3.37619019 + }, + "rotation": { + "x": 0.0, + "y": 334.125916, + "z": 0.0 + } + }, + { + "objectName": "Egg_571582a1", + "position": { + "x": -3.94221377, + "y": 0.7315668, + "z": -0.126498044 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_7dcfa4cd", + "position": { + "x": -3.935215, + "y": 0.7612178, + "z": -2.95915747 + }, + "rotation": { + "x": 0.0, + "y": 334.125916, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_ec37c659", + "position": { + "x": -0.397310972, + "y": 1.03328443, + "z": -2.61117625 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f3c7368a", + "position": { + "x": -2.3599174, + "y": 0.8896208, + "z": -0.4622943 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Bowl_1f51c27f", + "position": { + "x": -2.56082439, + "y": 0.892928839, + "z": -0.37652427 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2446632319, + "scene_num": 28 + }, + "task_id": "trial_T20190906_180737_225131", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_30LB5CDZNFRMLOY2SZJFPQ0BWHU0Z7", + "high_descs": [ + "Turn left and walk up to the black shelving unit in the corner of the room.", + "Pick up the rightmost apple off of the black shelving unit.", + "Turn around and walk towards the black table, then hang a left and walk up to the stove and look up at the microwave.", + "Open the microwave and put the apple inside, then close the door and turn on the microwave, after a couple seconds open the microwave, take out the apple, and close the microwave door.", + "Turn around and walk towards the door, then hang a right and walk up to the black shelving unit in the corner of the room.", + "Put the heated apple on top of the black shelving unit." + ], + "task_desc": "Put a heated apple on top of a black shelving unit.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3M68NM076KO8X8YQK75JCO8302M6R8", + "high_descs": [ + "Turn to the left and face the small black table.", + "Pick the apple on the right up.", + "Turn around and then go left to face the microwave above the stove.", + "Put the apple in the microwave and turn it on and then take the apple out and shut the door.", + "Turn around and cross the room and turn right to stand in front of the black table in the corner.", + "Put the apple down on the black table." + ], + "task_desc": "Put a warmed apple on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AIICJA0A5J8NF_3YJ6NA41JEXZ9QXIRYVJGXDTLQXJPE", + "high_descs": [ + "Turn to the left, walk to the black table. ", + "Pick up the apple to the right of the spatula. ", + "Turn around, walk to the stove. ", + "Place the apple in the microwave above the stove, heat up the apple for a few seconds, take out the apple. ", + "Turn around, walk to the black table by the white table. ", + "Place the apple to the right of the spatula. " + ], + "task_desc": "Put a heated up apple on the black table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A28HB7240OFGEW_3A4NIXBJ79GZJDO523F4F8WPHZWML1", + "high_descs": [ + "Turn left, walk to the square table with knife on top of it.", + "Pick up the apple from the square table.", + "Turn around, walk to the round table, turn left, walk to the oven", + "Put the apple in the oven, wait 2 seconds, take the apple out of the oven", + "Turn around and walk to the door", + "Turn right, put the apple back onto the square table." + ], + "task_desc": "Warm the apple up in the oven , put it back on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3IX2EGZR7E0KL3DX4QZ8LSD7JX9JR3", + "high_descs": [ + "Turn to the left and walk towards the black table.", + "Pick up the apple on the right side.", + "Turn around, walk towards the circle table, turn left towards the stove.", + "Place the apple into the microwave to heat it and then take it out.", + "Turn around, walk towards the door, make a right towards the black table.", + "Place the apple back onto the table to the left of the salt." + ], + "task_desc": "Heat one of the apples from the black table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3L4PIM1GQWXAGS8WQQ0BVFSVW13RYQ", + "high_descs": [ + "Turn left and walk to the black table.", + "Pick up the rightmost apple.", + "Turn around and veer left to the stove and microwave.", + "Heat the apple in the microwave. Place it to the left of the mug.", + "Turn around and walk to the right to the original black table.", + "Put the apple approximately where it first was on the table." + ], + "task_desc": "Put a heated apple on a 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-BreadSliced-None-CounterTop-21/trial_T20190906_163006_115734/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190906_163006_115734/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f531042244bcaa578c192899c958d5b919fe8a3d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190906_163006_115734/initial_state.pddl @@ -0,0 +1,844 @@ + +(define (problem plan_trial_T20190906_163006_115734) +(: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_67_bar__plus_00_dot_83_bar__minus_00_dot_68 - object + Apple_bar__plus_00_dot_72_bar__plus_00_dot_72_bar__plus_00_dot_45 - object + Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57 - 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_41 - object + Bowl_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_31 - object + Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 - object + ButterKnife_bar__minus_00_dot_86_bar__plus_00_dot_90_bar__plus_00_dot_93 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_03 - object + DishSponge_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_33 - object + Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_46 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_00 - object + Fork_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 - object + Fork_bar__plus_00_dot_90_bar__plus_00_dot_67_bar__plus_00_dot_39 - object + Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__plus_00_dot_00 - object + Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__minus_00_dot_25 - object + Knife_bar__minus_00_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_19 - 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_57_bar__plus_00_dot_01_bar__minus_00_dot_77 - object + Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 - object + Mug_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 - object + Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object + PepperShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__plus_00_dot_23 - object + PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_61 - object + Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object + Potato_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__minus_00_dot_85 - object + Potato_bar__plus_00_dot_67_bar__plus_01_dot_19_bar__minus_01_dot_88 - 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_01_dot_05 - object + SaltShaker_bar__plus_00_dot_78_bar__plus_00_dot_66_bar__plus_00_dot_27 - object + SaltShaker_bar__plus_00_dot_78_bar__plus_00_dot_66_bar__plus_00_dot_63 - object + SaltShaker_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_39 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_18 - object + SoapBottle_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__minus_00_dot_11 - object + SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 - object + Spatula_bar__plus_00_dot_72_bar__plus_00_dot_78_bar__minus_00_dot_25 - object + Spoon_bar__plus_00_dot_66_bar__plus_00_dot_88_bar__minus_00_dot_18 - 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_58_bar__plus_00_dot_93_bar__plus_00_dot_03 - 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_2_bar__minus_14_bar_0_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 SaltShaker_bar__plus_00_dot_78_bar__plus_00_dot_66_bar__plus_00_dot_27 SaltShakerType) + (objectType Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 PotType) + (objectType Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_68 AppleType) + (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType SaltShaker_bar__plus_00_dot_78_bar__plus_00_dot_66_bar__plus_00_dot_63 SaltShakerType) + (objectType Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96 LettuceType) + (objectType Potato_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__minus_00_dot_85 PotatoType) + (objectType Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 BreadType) + (objectType StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__minus_00_dot_25 KnifeType) + (objectType SaltShaker_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_39 SaltShakerType) + (objectType Fork_bar__plus_00_dot_90_bar__plus_00_dot_67_bar__plus_00_dot_39 ForkType) + (objectType StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 StoveKnobType) + (objectType 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 PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_61 PepperShakerType) + (objectType PepperShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__plus_00_dot_23 PepperShakerType) + (objectType Mug_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 MugType) + (objectType Fork_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 ForkType) + (objectType Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 MirrorType) + (objectType Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 WindowType) + (objectType Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 BowlType) + (objectType Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 BlindsType) + (objectType Mug_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_77 MugType) + (objectType Knife_bar__minus_00_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_19 KnifeType) + (objectType 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Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_68) + (heatable Potato_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__minus_00_dot_85) + (heatable Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84) + (heatable Mug_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57) + (heatable Mug_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_77) + (heatable Cup_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_03) + (heatable Apple_bar__plus_00_dot_72_bar__plus_00_dot_72_bar__plus_00_dot_45) + (heatable Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36) + (heatable Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45) + (heatable Tomato_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__plus_00_dot_03) + (heatable Potato_bar__plus_00_dot_67_bar__plus_01_dot_19_bar__minus_01_dot_88) + (heatable Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_46) + (heatable Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57) + (coolable Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05) + (coolable Apple_bar__plus_00_dot_67_bar__plus_00_dot_83_bar__minus_00_dot_68) + (coolable Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_97_bar__plus_00_dot_96) + (coolable Potato_bar__plus_00_dot_63_bar__plus_00_dot_81_bar__minus_00_dot_85) + (coolable Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84) + (coolable Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05) + (coolable Mug_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57) + (coolable Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00) + (coolable Mug_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_77) + (coolable Cup_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_03) + (coolable Apple_bar__plus_00_dot_72_bar__plus_00_dot_72_bar__plus_00_dot_45) + (coolable 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Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84) + (sliceable Apple_bar__plus_00_dot_72_bar__plus_00_dot_72_bar__plus_00_dot_45) + (sliceable Tomato_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__plus_00_dot_03) + (sliceable Potato_bar__plus_00_dot_67_bar__plus_01_dot_19_bar__minus_01_dot_88) + (sliceable Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_46) + (sliceable Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57) + + (inReceptacle Fork_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Spatula_bar__plus_00_dot_72_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 Fork_bar__plus_00_dot_82_bar__plus_00_dot_76_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Knife_bar__plus_00_dot_77_bar__plus_00_dot_78_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Spoon_bar__plus_00_dot_66_bar__plus_00_dot_88_bar__minus_00_dot_18 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__minus_00_dot_25 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_46 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Cup_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Tomato_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle SoapBottle_bar__plus_00_dot_95_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_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79) + (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 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_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) + (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) + (inReceptacle Bowl_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_31 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (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) + (inReceptacle SaltShaker_bar__plus_00_dot_78_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) + (inReceptacle SaltShaker_bar__plus_00_dot_78_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_66_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) + (inReceptacle Apple_bar__plus_00_dot_72_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 SaltShaker_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Fork_bar__plus_00_dot_90_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) + (inReceptacle Mug_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 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 SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_18 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16) + (inReceptacle Bowl_bar__plus_00_dot_95_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) + (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) + (inReceptacle SoapBottle_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 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 ButterKnife_bar__minus_00_dot_86_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) + (inReceptacle Bread_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Knife_bar__minus_00_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_61 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle 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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 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loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (objectAtLocation Tomato_bar__plus_00_dot_58_bar__plus_00_dot_93_bar__plus_00_dot_03 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_66_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__minus_00_dot_25 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_1_bar_1_bar_1_bar_45) + (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__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o BreadType) + (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-BreadSliced-None-CounterTop-21/trial_T20190906_163006_115734/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190906_163006_115734/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..d18764a128075ae83273f6367ba9eb61a8827181 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190906_163006_115734/traj_data.json @@ -0,0 +1,13163 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"z": 0.0 + } + }, + { + "objectName": "Plate_2b33f66e", + "position": { + "x": -2.02399969, + "y": 0.69248, + "z": -1.44700074 + }, + "rotation": { + "x": 1.06787948e-05, + "y": -0.000256137952, + "z": -1.99874139e-05 + } + }, + { + "objectName": "Fork_34f12e87", + "position": { + "x": 0.671831965, + "y": 0.760416448, + "z": 0.00290554762 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_d7803c74", + "position": { + "x": -0.0518239737, + "y": 0.8999009, + "z": 1.10124457 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Apple_093f2b24", + "position": { + "x": 0.721681535, + "y": 0.71809, + "z": 0.4481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_63693e0a", + "position": { + "x": 0.7401087, + "y": -0.007886887, + "z": -0.596487045 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_c79ff911", + "position": { + "x": 1.02592409, + "y": 0.9202052, + "z": -0.460193217 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_8142ce7b", + "position": { + "x": 0.7204354, + "y": 0.7755549, + "z": -0.252836943 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_027e0a30", + "position": { + "x": 0.669286966, + "y": 1.19178081, + "z": -1.88037479 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Cup_cb0de209", + "position": { + "x": 0.729649961, + "y": 0.8822297, + "z": 0.02986098 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_886fcaf3", + "position": { + "x": 0.9619548, + "y": 0.661702454, + "z": 0.387266 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_87875872", + "position": { + "x": -1.59924114, + "y": 0.6965811, + "z": -3.61407733 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_0ad5c562", + "position": { + "x": -0.855454445, + "y": 0.900662839, + "z": 0.929711342 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_11e4138d", + "position": { + "x": 0.6616132, + "y": 0.664960563, + "z": 0.326432019 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_42314d78", + "position": { + "x": -0.0518255234, + "y": 0.9440833, + "z": 0.8439379 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_0ad3089c", + "position": { + "x": -1.08401322, + "y": 0.9732391, + "z": 0.955370843 + }, + "rotation": { + "x": 41.4521332, + "y": 1.68723977, + "z": 2.95340466 + } + }, + { + "objectName": "Tomato_5a2cfc73", + "position": { + "x": 0.5821031, + "y": 0.9319887, + "z": 0.02986098 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_93a81026", + "position": { + "x": 0.6558765, + "y": 0.8847294, + "z": -0.176930517 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_33d4fba0", + "position": { + "x": -0.855452836, + "y": 0.923701346, + "z": 1.18701792 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": 0.566334367, + "y": 0.0107185841, + "z": -0.7680024 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "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": 2464805696, + "scene_num": 21 + }, + "task_id": "trial_T20190906_163006_115734", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A98E8M4QLI9RS_3L4D84MIL297W9ZU8LNE7OB1WYCJHR", + "high_descs": [ + "turn right and head across the room to the counter with the sink on the right", + "turn and face the counter to pick up the knife with the yellow handle that is behind the spoon", + "turn to the left to face the white table with the loaf of bread", + "slice the loaf of bread that is on the table", + "turn back to the right to face the counter again", + ", open the drawer on the left side of the sink and place the knife inside the drawer to the right of the two forks with the pointed edge facing forward", + "turn back to the left facing the table with the loaf of bread", + "pick up a slice of bread", + "turn and walk to the other side of the room passing the dining table on your right to the microwave in the corner to the right of the silver trash can", + "open the microwave door, place the slice of bread into the microwave, close the door, cook for five seconds and remove the bread from the microwave", + "turn around and go back across the room turning right to face the counter", + "place the slice of bread on the counter in front of the spoon and to the right of the tomato" + ], + "task_desc": "put a cooked slice of bread on to the counter", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3SBEHTYCWQKXNT5D0362HNR494TIYK", + "high_descs": [ + "Walk past the refrigerator and the sink to the counter to the left of the sink.", + "Pick up the knife.", + "Turn left and walk to the counter with the loaf of bread on it.", + "Slice the loaf with the knife.", + "Walk back to the counter to the left of the sink.", + "Open the left door, put the knife in it, and close it.", + "Turn left to the counter with the bread on it.", + "Pick up a slice of bread.", + "Turn around and walk to the microwave in the corner of the room.", + "Place the bread in the microwave, heat it, and take it out.", + "Walk back to the counter to the left of the sink.", + "Place the bread down on the counter in front of the spoon." + ], + "task_desc": "Place a heated slice of bread on a counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3C8HJ7UOPABJO259H46DNN7OZLYZMM", + "high_descs": [ + "Walk forward across the room and turn right to face the counter to the left of the sink.", + "Pick up the knife on the counter.", + "Turn left and face the bread on the table.", + "Cut the bread on the table into slices.", + "Turn to the right to face the drawer at the end of the counter.", + "Place the knife in the drawer on the left end of the sink.", + "Turn left and step forward to face the bread on the table.", + "Pick up a slice of bread on the counter.", + "Turn around and walk across the room to the left to face the microwave.", + "Heat the bread slice and remove it from the microwave.", + "Turn around and walk across the room, then turn right and walk forward to face the counter.", + "Place the bread slice on the counter beside the tomato." + ], + "task_desc": "To heat a bread slice and set it on the counter to the left of the stove.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A27AK750Y9M9KH_3PEIJLRY6WAQOJZ8KOOFZ0T4PKCXW6", + "high_descs": [ + "Turn left, go towards the trash can; turn right, go towards the far wall and turn right at the sink counter. ", + "Pick up knife at the sink counter. ", + "Turn around and make a right towards the table with the bread. ", + "Use the knife to slice the bread on the table. ", + "Turn around and head back towards the sink counter. ", + "Open the sink counter drawer and place the knife in it. ", + "Turn around and head back to the table with the bread. ", + "Pick up a slice of bread. ", + "Turn around, head towards the trash can and make a right then a left at the microwave oven sitting on a table. ", + "Place the bread in the microwave and heat it. ", + "Take the bread out, turn around and head back to the sink counter. ", + "Place the slice of bread on the sink counter next to the spoon. " + ], + "task_desc": "Slice bread and heat it. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3JZLYQ606HJJR_3DBQWDE4Y9FRZ66KMHEXBYPS02F5NB", + "high_descs": [ + "Move left until you are at the counter on the left side of the sink. ", + "Pick up the long knife near the back of the counter", + "Turn to the left and go to the white table by the stove.", + "Slice the brown bread near the front of the table. ", + "Turn back to the counter by the left side of the sink. ", + "Go to the small drawer under the counter. Open it. ", + "Put the knife in the drawer.", + "Go back to the counter the sliced the bread is on the table.", + "Take a slice of bread and turn around and walk to the microwave. Place the slice of bread in the microwave.", + "Warm the bread in the microwave. When the microwave signals, remove the bread. ", + "Close the microwave door, and take the bread to the counter on the left of the sink.", + "Put the slice of bread on the counter." + ], + "task_desc": "Slice a piece of bread & warm it up. Leave it on the counter. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3B58QWMTBXVE0_3LS2AMNW5I7YADPU7O2DOYKPPIYOQ2", + "high_descs": [ + "Walk across the room to the counter by the sink.", + "Pick up the knife from the counter.", + "Turn left and go to the table with a loaf of bread.", + "Slice the loaf of bread on the table.", + "Turn right and go back by the sink.", + "Open the drawer and put the knife in the drawer.", + "Turn left back to the loaf of bread.", + "Pick up a slice of bread from the loaf.", + "Turn around and walk across the room to the microwave.", + "Put the slice of bread in the microwave and heat it.", + "Turn around and walk across the room, then turn left to go to the counter by the sink.", + "Set the slice of bread down on the counter beside the tomato and in front of the spoon." + ], + "task_desc": "Put a heated slice of bread on the counter.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190906_163347_898080/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190906_163347_898080/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7fb31a598c4a54d0243a9045f5182acbe82d0479 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190906_163347_898080/initial_state.pddl @@ -0,0 +1,826 @@ + +(define (problem plan_trial_T20190906_163347_898080) +(: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_95_bar__plus_00_dot_94_bar__minus_00_dot_25 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__minus_00_dot_64 - object + Bread_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__plus_01_dot_02 - object + Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object + ButterKnife_bar__plus_00_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_74 - object + ButterKnife_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84 - 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_01_dot_37_bar__minus_02_dot_19 - object + DishSponge_bar__plus_00_dot_79_bar__plus_00_dot_02_bar__minus_00_dot_25 - object + DishSponge_bar__plus_00_dot_81_bar__plus_01_dot_46_bar__plus_00_dot_53 - object + Egg_bar__plus_00_dot_72_bar__plus_00_dot_70_bar__plus_00_dot_63 - object + Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_68 - object + Egg_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_01_dot_19 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + 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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_14_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType 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"trial_T20190906_163347_898080", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_36NEMU28XIUFU7046HM6OJD5FADWMP", + "high_descs": [ + "Turn around, walk straight, then make a right towards the sink.", + "Get the knife from behind the the sink's faucet.", + "Turn right and walk towards the table.", + "Cut the bread into slices.", + "Turn right and go to the counter next to the sink.", + "Put the knife on the counter.", + "Turn right and go to the table with the bread.", + "Get a slice of bread from the table.", + "Turn left, walk straight, then make a left. Walk straight then right towards the microwave.", + "Put the bread in the microwave. Turn on the microwave. Take the bread out of the microwave.", + "Turn around, walk straight, then make a right towards the counter next to the sink.", + "Put the bread on the counter next to the sink." + ], + "task_desc": "Put a microwaved slice of bread on the counter next to the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3FTYUGLFSX2IDUF7XN0UFTDYMY1D5P", + "high_descs": [ + "Turn around and walk to the sink and face it.", + "Pick up the knife laying behind the faucet.", + "Turn left and walk to the table in front of you.", + "Use the knife to cut the bread into slices.", + "Turn around and face the counter to the left of the sink.", + "Place the knife near the edge of the counter.", + "Turn left and walk back to the table with the slices bread.", + "Pick up a slice of the bread.", + "Turn left and walk over to the microwave facing it.", + "Put the slice of bread in the microwave and cook it before taking it back out and closing the door.", + "Turn left and walk back to the counter to the left of the sink.", + "Place the slice of cooked bread near the knife." + ], + "task_desc": "Put a piece of sliced bread on the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_3A0EX8ZRNB5N0LR7UTELV0NSHRSYB5", + "high_descs": [ + "Turn around and go to the sink", + "Grab the knife that it on top of the sink", + "Turn left and stop at the white table", + "Cut the loaf of bread on the table into slices", + "Turn around and stop at the counter to the left of the sink", + "Put the knife on the counter", + "Turn left and go to the white table", + "Grab one of the slices of bread", + "Turn around and go to the microwave", + "Heat the bread in the microwave and then take it out", + "Turn around and go to the counter to the left of the sink", + "Put the bread on the counter" + ], + "task_desc": "Putting sliced bread on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3DL65MZB8GW84L2M8SYMZH1UH13ECV", + "high_descs": [ + "Turn around and walk across the room and turn right to face the sink.", + "Pick up the knife on the back of the sink.", + "Turn left and walk forward to face the table.", + "Cut the bread loaf into slices.", + "Turn to the right and face the counter to the left of the sink.", + "Place the knife on the counter.", + "Turn left and step forward to face the bread on the counter.", + "Pick up a slice of bread on the counter.", + "Turn around and walk across the room and face the microwave.", + "Heat the bread slice in the microwave and remove it.", + "Turn around and walk across the room and turn right and face the counter to the left of the sink.", + "Place the bread slice on the counter." + ], + "task_desc": "Heat a bread slice and place it on the counter to the left of the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AZLZA0Q87TJZO_31QNSG6A5UALJ3XZ484BRLDT2N878L", + "high_descs": [ + "Turn around and walk to the sink.", + "Pick up the knife on the counter behind the faucet.", + "Turn left and walk to the white table.", + "Slice the loaf of bread on the table that is to the right of the tomato.", + "Turn around and walk back to the counter to the left of the sink.", + "Place the knife horizontally on the counter to the left of the sink, in front of the yellow apple.", + "Turn left and walk back to the table with the loaf of bread on it.", + "Take the second slice of bread from the right.", + "Turn around and take the slice of bread to the microwave.", + "Open the microwave door, place the slice of bread on the plate inside, then close the door. Set the timer for 2 seconds; once done heating, remove the slice of bread from the microwave.", + "Turn around and walk to the counter to the left of the sink.", + "Place the slice of bread standing on its edge perpendicular to the center of the knife on the counter." + ], + "task_desc": "Place a heated slice of bread perpendicular to a knife on the counter to the left of the sink.", + "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-BreadSliced-None-CounterTop-21/trial_T20190911_223132_751021/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190911_223132_751021/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7712247ff3f2a093e3e1decfb31fc1a8a3ed35c2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-21/trial_T20190911_223132_751021/initial_state.pddl @@ -0,0 +1,884 @@ + +(define (problem plan_trial_T20190911_223132_751021) +(: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_60_bar__plus_00_dot_72_bar__plus_00_dot_27 - object + Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57 - object + Apple_bar__minus_02_dot_00_bar__plus_00_dot_85_bar__minus_03_dot_64 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_41 - object + Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_21 - object + Bowl_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 - object + Bread_bar__plus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_51 - object + Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93 - object + ButterKnife_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + ButterKnife_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_03_dot_53 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_88 - object + Cup_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_42 - object + DishSponge_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_76 - object + Egg_bar__plus_00_dot_90_bar__plus_00_dot_70_bar__plus_00_dot_45 - object + Egg_bar__minus_01_dot_19_bar__plus_00_dot_09_bar__minus_03_dot_57 - object + Egg_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_45 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_12 - object + Fork_bar__minus_01_dot_54_bar__plus_00_dot_70_bar__minus_03_dot_45 - object + Fork_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_01_dot_09 - object + Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__minus_00_dot_11 - object + Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_84 - object + Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_93 - object + Lettuce_bar__plus_00_dot_76_bar__plus_00_dot_86_bar__minus_00_dot_74 - 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_71_bar__plus_00_dot_46_bar__minus_01_dot_80 - object + Mug_bar__plus_00_dot_79_bar__plus_01_dot_15_bar__minus_01_dot_73 - object + Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object + PepperShaker_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_04 - object + Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_20 - object + Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object + Potato_bar__plus_00_dot_58_bar__plus_00_dot_92_bar__minus_00_dot_18 - object + Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + SaltShaker_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_12 - object + SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_70 - object + Spatula_bar__plus_00_dot_66_bar__plus_00_dot_68_bar__plus_00_dot_39 - object + Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_00 - object + Spoon_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_93 - object + Spoon_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19 - object + Spoon_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 - 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_67_bar__plus_00_dot_71_bar__minus_01_dot_73 - object + Tomato_bar__minus_00_dot_86_bar__plus_00_dot_95_bar__plus_00_dot_84 - 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_3_bar_1_bar_0_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 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Spoon_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_93) + (cleanable Apple_bar__minus_02_dot_00_bar__plus_00_dot_85_bar__minus_03_dot_64) + (cleanable Fork_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__minus_01_dot_09) + (cleanable Spatula_bar__plus_00_dot_66_bar__plus_00_dot_68_bar__plus_00_dot_39) + (cleanable Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_88) + (cleanable Fork_bar__minus_01_dot_54_bar__plus_00_dot_70_bar__minus_03_dot_45) + (cleanable Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_93) + (cleanable Spoon_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19) + (cleanable Apple_bar__plus_00_dot_60_bar__plus_00_dot_72_bar__plus_00_dot_27) + (cleanable Egg_bar__plus_00_dot_90_bar__plus_00_dot_70_bar__plus_00_dot_45) + (cleanable Mug_bar__plus_00_dot_79_bar__plus_01_dot_15_bar__minus_01_dot_73) + (cleanable Bowl_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10) + (cleanable Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_84) + (cleanable Egg_bar__minus_01_dot_19_bar__plus_00_dot_09_bar__minus_03_dot_57) + (cleanable Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_00) + (cleanable ButterKnife_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19) + (cleanable Spoon_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88) + (cleanable DishSponge_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_76) + (cleanable ButterKnife_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_03_dot_53) + (cleanable Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79) + (cleanable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_95_bar__plus_00_dot_84) + (cleanable Mug_bar__plus_00_dot_71_bar__plus_00_dot_46_bar__minus_01_dot_80) + (cleanable Potato_bar__plus_00_dot_58_bar__plus_00_dot_92_bar__minus_00_dot_18) + (cleanable Tomato_bar__plus_00_dot_67_bar__plus_00_dot_71_bar__minus_01_dot_73) + (cleanable Lettuce_bar__plus_00_dot_76_bar__plus_00_dot_86_bar__minus_00_dot_74) + (cleanable Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__minus_00_dot_11) + (cleanable Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_20) + (cleanable Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45) + (cleanable Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57) + (cleanable Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_21) + (cleanable Egg_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_45) + (cleanable Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_41) + (cleanable Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_12) + (cleanable Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79) + (cleanable Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60) + (cleanable Cup_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_42) + + (heatable Apple_bar__minus_02_dot_00_bar__plus_00_dot_85_bar__minus_03_dot_64) + (heatable Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_88) + (heatable Apple_bar__plus_00_dot_60_bar__plus_00_dot_72_bar__plus_00_dot_27) + (heatable Egg_bar__plus_00_dot_90_bar__plus_00_dot_70_bar__plus_00_dot_45) + (heatable Mug_bar__plus_00_dot_79_bar__plus_01_dot_15_bar__minus_01_dot_73) + (heatable Egg_bar__minus_01_dot_19_bar__plus_00_dot_09_bar__minus_03_dot_57) + (heatable Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93) + (heatable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_95_bar__plus_00_dot_84) + (heatable Mug_bar__plus_00_dot_71_bar__plus_00_dot_46_bar__minus_01_dot_80) + (heatable Potato_bar__plus_00_dot_58_bar__plus_00_dot_92_bar__minus_00_dot_18) + (heatable Tomato_bar__plus_00_dot_67_bar__plus_00_dot_71_bar__minus_01_dot_73) + (heatable Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_20) + (heatable Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45) + (heatable Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57) + (heatable Egg_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_45) + (heatable Bread_bar__plus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_51) + (heatable Cup_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_42) + (coolable Apple_bar__minus_02_dot_00_bar__plus_00_dot_85_bar__minus_03_dot_64) + (coolable Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_88) + (coolable Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_93) + (coolable Apple_bar__plus_00_dot_60_bar__plus_00_dot_72_bar__plus_00_dot_27) + (coolable Egg_bar__plus_00_dot_90_bar__plus_00_dot_70_bar__plus_00_dot_45) + (coolable Mug_bar__plus_00_dot_79_bar__plus_01_dot_15_bar__minus_01_dot_73) + (coolable Bowl_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10) + (coolable Egg_bar__minus_01_dot_19_bar__plus_00_dot_09_bar__minus_03_dot_57) + (coolable Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79) + (coolable Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93) + (coolable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_95_bar__plus_00_dot_84) + (coolable Mug_bar__plus_00_dot_71_bar__plus_00_dot_46_bar__minus_01_dot_80) + (coolable Potato_bar__plus_00_dot_58_bar__plus_00_dot_92_bar__minus_00_dot_18) + (coolable Tomato_bar__plus_00_dot_67_bar__plus_00_dot_71_bar__minus_01_dot_73) + (coolable Lettuce_bar__plus_00_dot_76_bar__plus_00_dot_86_bar__minus_00_dot_74) + (coolable Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_20) + (coolable Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45) + (coolable Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57) + (coolable Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_21) + (coolable Egg_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_45) + (coolable Bread_bar__plus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_51) + (coolable Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_41) + (coolable Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79) + (coolable Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60) + (coolable Cup_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_42) + + + + + + (sliceable Apple_bar__minus_02_dot_00_bar__plus_00_dot_85_bar__minus_03_dot_64) + (sliceable Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_93) + (sliceable Apple_bar__plus_00_dot_60_bar__plus_00_dot_72_bar__plus_00_dot_27) + (sliceable Egg_bar__plus_00_dot_90_bar__plus_00_dot_70_bar__plus_00_dot_45) + (sliceable Egg_bar__minus_01_dot_19_bar__plus_00_dot_09_bar__minus_03_dot_57) + (sliceable Bread_bar__minus_01_dot_06_bar__plus_00_dot_94_bar__plus_00_dot_93) + (sliceable Tomato_bar__minus_00_dot_86_bar__plus_00_dot_95_bar__plus_00_dot_84) + (sliceable Potato_bar__plus_00_dot_58_bar__plus_00_dot_92_bar__minus_00_dot_18) + (sliceable Tomato_bar__plus_00_dot_67_bar__plus_00_dot_71_bar__minus_01_dot_73) + (sliceable Lettuce_bar__plus_00_dot_76_bar__plus_00_dot_86_bar__minus_00_dot_74) + (sliceable Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57) + (sliceable Egg_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_45) + (sliceable Bread_bar__plus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_51) + + (inReceptacle Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_12 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__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Potato_bar__plus_00_dot_58_bar__plus_00_dot_92_bar__minus_00_dot_18 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Knife_bar__plus_00_dot_88_bar__plus_00_dot_91_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Knife_bar__plus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_84 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__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 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) + (inReceptacle Fork_bar__minus_01_dot_97_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 Spoon_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_88 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Plate_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (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) + (inReceptacle Cup_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_42 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Spatula_bar__plus_00_dot_66_bar__plus_00_dot_68_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (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) + (inReceptacle Apple_bar__plus_00_dot_60_bar__plus_00_dot_72_bar__plus_00_dot_27 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Bread_bar__plus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_12 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16) + (inReceptacle PepperShaker_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_04 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40) + (inReceptacle Bowl_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__minus_00_dot_21 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40) + (inReceptacle Bowl_bar__plus_00_dot_90_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) + (inReceptacle Bowl_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Spoon_bar__minus_00_dot_25_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) + (inReceptacle ButterKnife_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Lettuce_bar__plus_00_dot_15_bar__plus_00_dot_99_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle DishSponge_bar__minus_01_dot_06_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) + (inReceptacle Spoon_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Tomato_bar__minus_00_dot_86_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 SaltShaker_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 Fork_bar__minus_01_dot_54_bar__plus_00_dot_70_bar__minus_03_dot_45 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_70 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Egg_bar__minus_01_dot_60_bar__plus_00_dot_74_bar__minus_03_dot_45 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle ButterKnife_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_03_dot_53 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61) + (inReceptacle Egg_bar__minus_01_dot_19_bar__plus_00_dot_09_bar__minus_03_dot_57 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61) + (inReceptacle Tomato_bar__plus_00_dot_67_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 Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_88 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Mug_bar__plus_00_dot_71_bar__plus_00_dot_46_bar__minus_01_dot_80 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_15_bar__minus_01_dot_73 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Apple_bar__minus_02_dot_00_bar__plus_00_dot_85_bar__minus_03_dot_64 Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69) + (inReceptacle Lettuce_bar__plus_00_dot_76_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) + + + (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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(objectAtLocation Bread_bar__plus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_03_dot_53 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation Cup_bar__plus_00_dot_71_bar__plus_00_dot_66_bar__minus_01_dot_88 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_66_bar__plus_00_dot_68_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45) + (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) + (objectAtLocation Apple_bar__minus_02_dot_00_bar__plus_00_dot_85_bar__minus_03_dot_64 loc_bar__minus_7_bar__minus_11_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_70 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_12 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(objectAtLocation Fork_bar__minus_01_dot_54_bar__plus_00_dot_70_bar__minus_03_dot_45 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_12 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Apple_bar__minus_01_dot_33_bar__plus_00_dot_11_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_13_bar_2_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_19_bar__plus_00_dot_09_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_13_bar_2_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_87_bar__plus_00_dot_77_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation 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the piece of bread in the microwave, turn on the microwave, take the piece of bread out of the microwave.", + "Turn around, walk straight, make a right and walk towards the sink counter.", + "Put the piece of bread on the sink counter." + ], + "task_desc": "Put a microwaved piece of bread on the sink counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3VHP9MDGRQ10AZ2I33ISHZMTQ4ZCFR", + "high_descs": [ + "Turn around until you see the trash can and face the white counter to your left.", + "Walk to the white counter and pick up the knife from the back near the sink.", + "Turn left and face the black table on your right.", + "Slice the bread in the middle of the table behind the spatula.", + "Turn right and face the white counter on your left.", + "Place the knife down behind the apple on the counter.", + "Turn left and face the black table on your right.", + "Pick up a single slice of bread on the far right side of the loaf.", + "Turn around until you see the stove on your right, then cross the room to face the trash can, turn right and face the microwave on your left.", + "Open the microwave, place the bread onto the plate, close the door, set the time to cook it, open the door and pick up the single slice of bread, and then close the door.", + "Turn left, walk forward until the trash can is on your right, cross the room until you reach the stove, turn right and walk to the white counter.", + "Place the bread to the left of the apple onto the white counter." + ], + "task_desc": "Heat a single piece of bread in the microwave. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A11LSO6D7BMY99_3K4J6M3CXHAIVK1FU9SJTPWIUCNAGS", + "high_descs": [ + "go to the counter top next to the sink with an onion and a knife", + "pick up the knife with the yellow handle", + "take the knife to the shelf next to the counter top to the left", + "slice the bread that is on that shelf", + "go back to the counter top with the onion", + "put the knife on the counter next to the onion", + "go back to the shelf with the sliced bread", + "pick up the end slice of bread that you cut", + "take the bread slice to the microwave that is in the far right hand corner of the room", + "put the slice of bread in the microwave and cook it, remove the slice", + "take the bread slice back to the counter with the onion and knife", + "put the bread slice on the counter to the left of the onion" + ], + "task_desc": "Put a cooked, sliced piece of bread on the counter ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3Z2R0DQ0JKVV63AKBZ9GN4S85AS2EC", + "high_descs": [ + "Turn to the right and walk forward to face the counter.", + "Pick up the knife on the counter.", + "Take a step to the left and face the black end table.", + "Cut the bread on the black end table into slices.", + "Take a step to the right to face the counter.", + "put the knife on the counter.", + "Step to the left to face the bread on the black end table.", + "Pick up a slice of bread on the black end table.", + "Turn around and walk across the room, then turn left and walk forward to face microwave.", + "Head the bread slice in the microwave and remove it.", + "Turn around and walk across the room, then turn right and walk forward to face the counter.", + "Place the bread slice on the counter next to the potato." + ], + "task_desc": "To heat a bread slice and place it on the counter beside the potato.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_34MAJL3QP742ZJ9AQTB8XSL8VZ934O", + "high_descs": [ + "Turn right and walk to the counter left of the sink", + "Pick up the knife behind the apple on the counter", + "Move slightly left to the small black table", + "Use the knife to slice the bread loaf on the table", + "Turn right and move back to the counter left of the sink", + "Put the knife down on the counter", + "Move left to the small black table ", + "Pick up a slice of bread from the table", + "Turn around and walk to the microwave in the opposite corner of the kitchen", + "Place the bread in the microwave and cook it", + "Take the bread and walk back across the room to the counter left of the sink", + "Put the piece of bread down on the counter just left of the apple" + ], + "task_desc": "Put the cooked bread on the kitchen counter", + "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-12/trial_T20190908_181854_326947/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190908_181854_326947/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8fea36dcd8ab28c6f8edd9a453b7619ab5dd1e62 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190908_181854_326947/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_T20190908_181854_326947)\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_49_bar__plus_00_dot_12_bar__plus_02_dot_95 - object\n Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08 - object\n Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_53 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loc_bar_0_bar__minus_4_bar_3_bar_30)\n \n (cleanable Spatula_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__plus_01_dot_05)\n (cleanable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_84)\n (cleanable ButterKnife_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_00)\n (cleanable Mug_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_12)\n (cleanable Cup_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_28)\n (cleanable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_61)\n (cleanable Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (cleanable Fork_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_92)\n (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87)\n (cleanable Apple_bar__plus_01_dot_49_bar__plus_00_dot_12_bar__plus_02_dot_95)\n (cleanable Bowl_bar__plus_01_dot_42_bar__plus_01_dot_74_bar__minus_00_dot_04)\n (cleanable Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08)\n (cleanable ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_92)\n (cleanable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39)\n (cleanable Spoon_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_00_dot_92)\n (cleanable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11)\n (cleanable Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77)\n (cleanable Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_46)\n (cleanable Egg_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_01_dot_00)\n (cleanable Spoon_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_78)\n (cleanable Knife_bar__minus_00_dot_72_bar__plus_00_dot_77_bar__plus_00_dot_78)\n (cleanable Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_45)\n (cleanable Potato_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_00_dot_84)\n (cleanable Pan_bar__minus_00_dot_97_bar__plus_01_dot_32_bar__plus_00_dot_20)\n (cleanable Bowl_bar__minus_01_dot_12_bar__plus_01_dot_83_bar__minus_00_dot_08)\n (cleanable Mug_bar__minus_01_dot_00_bar__plus_01_dot_95_bar__plus_01_dot_36)\n (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47)\n (cleanable Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08)\n (cleanable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35)\n (cleanable ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_15)\n (cleanable Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_53)\n (cleanable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85)\n (cleanable Cup_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_02_dot_53)\n (cleanable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68)\n (cleanable DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_39)\n (cleanable Spatula_bar__plus_01_dot_77_bar__plus_00_dot_95_bar__plus_01_dot_46)\n (cleanable DishSponge_bar__plus_01_dot_66_bar__plus_01_dot_95_bar__plus_01_dot_83)\n \n (heatable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_84)\n (heatable Mug_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_12)\n (heatable Cup_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_28)\n (heatable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_61)\n (heatable Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (heatable Apple_bar__plus_01_dot_49_bar__plus_00_dot_12_bar__plus_02_dot_95)\n (heatable Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08)\n (heatable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11)\n (heatable Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_46)\n (heatable Egg_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_01_dot_00)\n (heatable Potato_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_00_dot_84)\n (heatable Mug_bar__minus_01_dot_00_bar__plus_01_dot_95_bar__plus_01_dot_36)\n (heatable Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08)\n (heatable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35)\n (heatable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85)\n (heatable Cup_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_02_dot_53)\n (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n (coolable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_84)\n (coolable Mug_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_12)\n (coolable Cup_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_28)\n (coolable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_61)\n (coolable Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (coolable 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Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11)\n (sliceable Egg_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_01_dot_00)\n (sliceable Potato_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_00_dot_84)\n (sliceable Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08)\n (sliceable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85)\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 DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_39 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39)\n (inReceptacle SaltShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_16 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 Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_45 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 Spatula_bar__plus_01_dot_77_bar__plus_00_dot_95_bar__plus_01_dot_46 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle SoapBottle_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_81 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 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_42_bar__plus_01_dot_74_bar__minus_00_dot_04 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_53 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle PepperShaker_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_01_dot_06 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63)\n (inReceptacle Bowl_bar__minus_01_dot_12_bar__plus_01_dot_83_bar__minus_00_dot_08 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33)\n (inReceptacle PepperShaker_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_02_dot_02 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08)\n (inReceptacle Mug_bar__minus_01_dot_00_bar__plus_01_dot_95_bar__plus_01_dot_36 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21)\n (inReceptacle PepperShaker_bar__minus_01_dot_18_bar__plus_01_dot_95_bar__plus_01_dot_41 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21)\n (inReceptacle DishSponge_bar__plus_01_dot_66_bar__plus_01_dot_95_bar__plus_01_dot_83 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08)\n (inReceptacle Cup_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_02_dot_53 Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69)\n (inReceptacle Cup_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_28 Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_10)\n (inReceptacle Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_46 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11)\n (inReceptacle Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_61 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70)\n (inReceptacle Spoon_bar__minus_00_dot_69_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_72_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 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 Egg_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_01_dot_00 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle ButterKnife_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 Potato_bar__minus_00_dot_88_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)\n (inReceptacle SaltShaker_bar__minus_01_dot_04_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)\n (inReceptacle ButterKnife_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_00 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_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92)\n (inReceptacle ButterKnife_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 Fork_bar__minus_01_dot_21_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__plus_01_dot_28_bar__plus_00_dot_75_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_41_bar__plus_00_dot_76_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\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 Pan_bar__minus_00_dot_97_bar__plus_01_dot_32_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__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__plus_01_dot_49_bar__plus_00_dot_12_bar__plus_02_dot_95 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\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 Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 CoffeeMachine_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_45)\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__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 loc_bar_3_bar_10_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\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 Cup_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_28 loc_bar_4_bar_7_bar_1_bar__minus_15)\n (objectAtLocation Egg_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_39 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation ButterKnife_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 PepperShaker_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_01_dot_06 loc_bar_1_bar_5_bar_3_bar_60)\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 SaltShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_45 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__plus_01_dot_05 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_47 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_42_bar__plus_01_dot_74_bar__minus_00_dot_04 loc_bar_3_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Apple_bar__plus_01_dot_49_bar__plus_00_dot_12_bar__plus_02_dot_95 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_18_bar__plus_01_dot_95_bar__plus_01_dot_41 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_53 loc_bar_1_bar_9_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_02_dot_53 loc_bar_3_bar_10_bar_1_bar__minus_15)\n (objectAtLocation Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_28_bar__plus_00_dot_75_bar__plus_00_dot_78 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_00 loc_bar__minus_1_bar_4_bar_3_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__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__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_81 loc_bar_3_bar_8_bar_1_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_21_bar__plus_00_dot_94_bar__plus_00_dot_92 loc_bar__minus_1_bar_4_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__minus_01_dot_12_bar__plus_01_dot_83_bar__minus_00_dot_08 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__plus_01_dot_77_bar__plus_00_dot_95_bar__plus_01_dot_46 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_72_bar__plus_00_dot_77_bar__plus_00_dot_78 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_02_dot_02 loc_bar_0_bar_8_bar_3_bar__minus_30)\n (objectAtLocation ButterKnife_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 Potato_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_00_dot_84 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_46 loc_bar_1_bar_11_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_66_bar__plus_01_dot_95_bar__plus_01_dot_83 loc_bar_1_bar_6_bar_1_bar__minus_15)\n (objectAtLocation Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_84 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_61 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Pan_bar__minus_00_dot_97_bar__plus_01_dot_32_bar__plus_00_dot_20 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_69_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__minus_01_dot_00_bar__plus_01_dot_95_bar__plus_01_dot_36 loc_bar_0_bar_7_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 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 3", "take egg 3 from countertop 3", "go to microwave 1", "heat egg 3 with microwave 1", "go to garbagecan 1", "move egg 3 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-12/trial_T20190908_181854_326947/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190908_181854_326947/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f849244119e95d13691ba60ddf8e357d8ae32afc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190908_181854_326947/initial_state.pddl @@ -0,0 +1,1094 @@ + +(define (problem plan_trial_T20190908_181854_326947) +(: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 + 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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_0_bar__minus_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 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Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_53) + (cleanable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85) + (cleanable Cup_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_02_dot_53) + (cleanable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68) + (cleanable DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_39) + (cleanable Spatula_bar__plus_01_dot_77_bar__plus_00_dot_95_bar__plus_01_dot_46) + (cleanable DishSponge_bar__plus_01_dot_66_bar__plus_01_dot_95_bar__plus_01_dot_83) + + (heatable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_84) + (heatable Mug_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_12) + (heatable Cup_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_28) + (heatable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_61) + (heatable Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31) + (heatable Apple_bar__plus_01_dot_49_bar__plus_00_dot_12_bar__plus_02_dot_95) + (heatable Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08) + (heatable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11) + (heatable Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_46) + (heatable Egg_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_01_dot_00) + (heatable Potato_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_00_dot_84) + (heatable Mug_bar__minus_01_dot_00_bar__plus_01_dot_95_bar__plus_01_dot_36) + (heatable Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08) + (heatable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (heatable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85) + (heatable Cup_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_02_dot_53) + (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (coolable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_84) + (coolable Mug_bar__minus_00_dot_99_bar__plus_00_dot_81_bar__plus_00_dot_12) + (coolable Cup_bar__plus_01_dot_67_bar__plus_01_dot_50_bar__plus_02_dot_28) + (coolable Cup_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_61) + (coolable Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (coolable Apple_bar__plus_01_dot_49_bar__plus_00_dot_12_bar__plus_02_dot_95) + (coolable Bowl_bar__plus_01_dot_42_bar__plus_01_dot_74_bar__minus_00_dot_04) + (coolable Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08) + (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (coolable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11) + (coolable Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_46) + (coolable Egg_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_01_dot_00) + (coolable Potato_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_00_dot_84) + (coolable Pan_bar__minus_00_dot_97_bar__plus_01_dot_32_bar__plus_00_dot_20) + (coolable Bowl_bar__minus_01_dot_12_bar__plus_01_dot_83_bar__minus_00_dot_08) + (coolable Mug_bar__minus_01_dot_00_bar__plus_01_dot_95_bar__plus_01_dot_36) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08) + (coolable Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35) + (coolable Bowl_bar__plus_01_dot_39_bar__plus_00_dot_08_bar__plus_02_dot_53) + (coolable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85) + (coolable Cup_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_02_dot_53) + (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 Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_84) + (sliceable Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31) + (sliceable Apple_bar__plus_01_dot_49_bar__plus_00_dot_12_bar__plus_02_dot_95) + (sliceable Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08) + (sliceable Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11) + (sliceable Egg_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_01_dot_00) + (sliceable Potato_bar__minus_00_dot_88_bar__plus_00_dot_97_bar__plus_00_dot_84) + (sliceable Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08) + (sliceable Apple_bar__plus_01_dot_39_bar__plus_00_dot_12_bar__plus_02_dot_85) + (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 DishSponge_bar__minus_01_dot_21_bar__plus_00_dot_94_bar__plus_02_dot_39 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle SaltShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_16 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 Knife_bar__minus_00_dot_69_bar__plus_00_dot_77_bar__plus_02_dot_45 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 Spatula_bar__plus_01_dot_77_bar__plus_00_dot_95_bar__plus_01_dot_46 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle SoapBottle_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_00_dot_81 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Potato_bar__plus_01_dot_29_bar__plus_00_dot_97_bar__plus_02_dot_31 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Mug_bar__plus_01_dot_53_bar__plus_01_dot_00_bar__plus_02_dot_35 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_42_bar__plus_01_dot_74_bar__minus_00_dot_04 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_53 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_02_dot_11) + (inReceptacle PepperShaker_bar__minus_00_dot_79_bar__plus_00_dot_08_bar__plus_01_dot_06 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle Bowl_bar__minus_01_dot_12_bar__plus_01_dot_83_bar__minus_00_dot_08 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33) + (inReceptacle PepperShaker_bar__minus_01_dot_08_bar__plus_01_dot_95_bar__plus_02_dot_02 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_02_dot_08) + (inReceptacle Mug_bar__minus_01_dot_00_bar__plus_01_dot_95_bar__plus_01_dot_36 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21) + (inReceptacle PepperShaker_bar__minus_01_dot_18_bar__plus_01_dot_95_bar__plus_01_dot_41 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21) + (inReceptacle DishSponge_bar__plus_01_dot_66_bar__plus_01_dot_95_bar__plus_01_dot_83 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08) + (inReceptacle Cup_bar__plus_01_dot_63_bar__plus_01_dot_50_bar__plus_02_dot_53 Cabinet_bar__plus_01_dot_50_bar__plus_01_dot_81_bar__plus_02_dot_69) 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CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Egg_bar__minus_00_dot_96_bar__plus_00_dot_97_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Apple_bar__minus_01_dot_21_bar__plus_00_dot_99_bar__plus_01_dot_08 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle ButterKnife_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 Potato_bar__minus_00_dot_88_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 SaltShaker_bar__minus_01_dot_04_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 ButterKnife_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_01_dot_00 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_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle ButterKnife_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 Fork_bar__minus_01_dot_21_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__plus_01_dot_28_bar__plus_00_dot_75_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_41_bar__plus_00_dot_76_bar__plus_01_dot_05 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Tomato_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_11 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a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190910_151939_914332/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190910_151939_914332/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3328c27d6a093c9a2770b6430cc076a9f98f9bb3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190910_151939_914332/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_T20190910_151939_914332)\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_89_bar__plus_01_dot_37 - object\n Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04 - object\n Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_83 - object\n Bowl_bar__minus_01_dot_07_bar__plus_01_dot_95_bar__plus_01_dot_46 - 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__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_02_dot_16 - 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_04_bar__plus_00_dot_94_bar__plus_00_dot_69 - object\n Cup_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_52 - object\n DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_78 - object\n DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 - object\n Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_59 - object\n Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01 - object\n Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01 - object\n Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_76 - 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_88_bar__plus_00_dot_94_bar__plus_01_dot_08 - object\n Fork_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77 - object\n Knife_bar__minus_00_dot_72_bar__plus_00_dot_77_bar__plus_01_dot_05 - object\n Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_02_dot_52 - object\n Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68 - object\n Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__minus_00_dot_03 - 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_59_bar__plus_00_dot_93_bar__plus_00_dot_74 - object\n Mug_bar__minus_00_dot_95_bar__plus_00_dot_20_bar__minus_00_dot_04 - object\n Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47 - object\n PepperShaker_bar__plus_01_dot_67_bar__plus_00_dot_93_bar__plus_01_dot_01 - object\n PepperShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_16 - object\n Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_37 - object\n Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_82 - object\n Plate_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08 - object\n Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27 - object\n Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27 - object\n Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87 - object\n SaltShaker_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_81 - 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_39_bar__plus_00_dot_07_bar__plus_02_dot_91 - object\n SoapBottle_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__plus_00_dot_30 - object\n Spatula_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__plus_02_dot_53 - object\n Spoon_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__plus_00_dot_92 - 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_94_bar__plus_00_dot_63_bar__plus_00_dot_12 - object\n Tomato_bar__minus_01_dot_07_bar__plus_01_dot_38_bar__plus_00_dot_27 - 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_3_bar_9_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 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Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_37)\n (heatable Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01)\n (heatable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_59)\n (heatable Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_37)\n (heatable Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01)\n (heatable Plate_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08)\n (heatable Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27)\n (heatable Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_00_dot_74)\n (heatable Mug_bar__minus_00_dot_95_bar__plus_00_dot_20_bar__minus_00_dot_04)\n (heatable Cup_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69)\n (heatable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27)\n (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27)\n (coolable 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Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_12)\n (sliceable Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04)\n (sliceable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_76)\n (sliceable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_38_bar__plus_00_dot_27)\n (sliceable Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01)\n (sliceable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_59)\n (sliceable Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_37)\n (sliceable Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01)\n (sliceable Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27)\n (sliceable Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__minus_00_dot_03)\n (sliceable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27)\n (sliceable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68)\n (sliceable 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Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39)\n (inReceptacle Spatula_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__plus_02_dot_53 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39)\n (inReceptacle Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_00_dot_74 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle PepperShaker_bar__plus_01_dot_67_bar__plus_00_dot_93_bar__plus_01_dot_01 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle SaltShaker_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_81 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31)\n (inReceptacle Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_37 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59)\n (inReceptacle Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_82 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16)\n (inReceptacle SoapBottle_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58)\n (inReceptacle Bowl_bar__minus_01_dot_07_bar__plus_01_dot_95_bar__plus_01_dot_46 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21)\n (inReceptacle Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_83 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08)\n (inReceptacle Cup_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_52 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70)\n (inReceptacle Spoon_bar__minus_00_dot_69_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_72_bar__plus_00_dot_77_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 Fork_bar__minus_00_dot_96_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 Cup_bar__minus_01_dot_04_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 Fork_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 Plate_bar__minus_01_dot_13_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 DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_78 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92)\n (inReceptacle Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Mug_bar__minus_00_dot_95_bar__plus_00_dot_20_bar__minus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12)\n (inReceptacle Tomato_bar__minus_01_dot_07_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 SoapBottle_bar__plus_01_dot_39_bar__plus_00_dot_07_bar__plus_02_dot_91 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91)\n (inReceptacle Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_37 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__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_00_dot_74 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_52 loc_bar__minus_1_bar_10_bar_3_bar__minus_15)\n (objectAtLocation Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_76 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_78 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_37 loc_bar_2_bar_1_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\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__plus_01_dot_67_bar__plus_00_dot_93_bar__plus_01_dot_01 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_37 loc_bar_4_bar_5_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_72_bar__plus_00_dot_77_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_07_bar__plus_01_dot_95_bar__plus_01_dot_46 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_12 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_39_bar__plus_00_dot_07_bar__plus_02_dot_91 loc_bar_3_bar_10_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 Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_82 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\n (objectAtLocation Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_59 loc_bar_4_bar_5_bar_1_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_00_dot_94_bar__plus_00_dot_66_bar__minus_00_dot_03 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_01_dot_83_bar__plus_00_dot_30 loc_bar__minus_1_bar_3_bar_3_bar__minus_30)\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_88_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_07_bar__plus_01_dot_38_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_83 loc_bar_1_bar_6_bar_1_bar__minus_15)\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__plus_01_dot_41_bar__plus_00_dot_76_bar__plus_02_dot_53 loc_bar_2_bar_9_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_02_dot_52 loc_bar_0_bar_9_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_81 loc_bar_3_bar_8_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27 loc_bar_0_bar_0_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 loc_bar_2_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01 loc_bar_3_bar_10_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69 loc_bar__minus_1_bar_4_bar_3_bar_45)\n (objectAtLocation Pan_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 Spoon_bar__minus_00_dot_69_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__minus_00_dot_95_bar__plus_00_dot_20_bar__minus_00_dot_04 loc_bar_0_bar_0_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 EggType)\n (receptacleType ?r GarbageCanType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take egg 3 from garbagecan 1", "go to microwave 1", "heat egg 3 with microwave 1", "go to garbagecan 1", "move egg 3 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-12/trial_T20190910_151939_914332/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190910_151939_914332/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6bf088be27bb9d768bcde9d0db0845ae94998c0b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190910_151939_914332/initial_state.pddl @@ -0,0 +1,1062 @@ + +(define (problem plan_trial_T20190910_151939_914332) +(: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_89_bar__plus_01_dot_37 - object + Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04 - object + Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_83 - object + Bowl_bar__minus_01_dot_07_bar__plus_01_dot_95_bar__plus_01_dot_46 - 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 + ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_02_dot_16 - object + Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object + Cup_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69 - object + Cup_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_52 - object + DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_78 - object + DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 - object + Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_59 - object + Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01 - object + Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01 - object + Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_76 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + 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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_9_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 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Mug_bar__minus_00_dot_95_bar__plus_00_dot_20_bar__minus_00_dot_04) + (cleanable Cup_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69) + (cleanable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27) + (cleanable Lettuce_bar__plus_01_dot_46_bar__plus_01_dot_01_bar__plus_01_dot_68) + + (heatable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_12) + (heatable Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04) + (heatable Cup_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_52) + (heatable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_76) + (heatable Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_82) + (heatable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_38_bar__plus_00_dot_27) + (heatable Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_37) + (heatable Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01) + (heatable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_59) + (heatable Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_37) + (heatable Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01) + (heatable Plate_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08) + (heatable Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27) + (heatable Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_00_dot_74) + (heatable Mug_bar__minus_00_dot_95_bar__plus_00_dot_20_bar__minus_00_dot_04) + (heatable Cup_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69) + (heatable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27) + (heatable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + (coolable Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_12) + (coolable Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04) + (coolable Cup_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_52) + (coolable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_76) + (coolable Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_82) + (coolable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_38_bar__plus_00_dot_27) + (coolable Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_37) + (coolable Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (coolable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_59) + (coolable Bowl_bar__minus_01_dot_07_bar__plus_01_dot_95_bar__plus_01_dot_46) + (coolable Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_83) + (coolable Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_37) + (coolable Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01) + (coolable Pan_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Plate_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_01_dot_08) + (coolable Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27) + (coolable Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__minus_00_dot_03) + (coolable Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_00_dot_74) + (coolable Mug_bar__minus_00_dot_95_bar__plus_00_dot_20_bar__minus_00_dot_04) + (coolable Cup_bar__minus_01_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_69) + (coolable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27) + (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 Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_12) + (sliceable Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04) + (sliceable Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_76) + (sliceable Tomato_bar__minus_01_dot_07_bar__plus_01_dot_38_bar__plus_00_dot_27) + (sliceable Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01) + (sliceable Egg_bar__plus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_59) + (sliceable Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_37) + (sliceable Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01) + (sliceable Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27) + (sliceable Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__minus_00_dot_03) + (sliceable Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27) + (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 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 ButterKnife_bar__minus_01_dot_13_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 PepperShaker_bar__minus_00_dot_71_bar__plus_00_dot_93_bar__plus_02_dot_16 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (inReceptacle Knife_bar__minus_00_dot_90_bar__plus_00_dot_77_bar__plus_02_dot_52 Drawer_bar__minus_00_dot_78_bar__plus_00_dot_77_bar__plus_02_dot_38) + (inReceptacle Pan_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 Spatula_bar__plus_01_dot_41_bar__plus_00_dot_76_bar__plus_02_dot_53 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_00_dot_74 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle PepperShaker_bar__plus_01_dot_67_bar__plus_00_dot_93_bar__plus_01_dot_01 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle SaltShaker_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_81 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_00_dot_11_bar__plus_00_dot_37 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_59) + (inReceptacle Plate_bar__minus_01_dot_08_bar__plus_01_dot_51_bar__plus_00_dot_82 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_16) + (inReceptacle SoapBottle_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_00_dot_58) + (inReceptacle Bowl_bar__minus_01_dot_07_bar__plus_01_dot_95_bar__plus_01_dot_46 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_11_bar__plus_01_dot_21) + (inReceptacle Bowl_bar__plus_01_dot_70_bar__plus_01_dot_94_bar__plus_01_dot_83 Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_11_bar__plus_02_dot_08) + (inReceptacle Cup_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_52 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70) + (inReceptacle Spoon_bar__minus_00_dot_69_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_72_bar__plus_00_dot_77_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 Fork_bar__minus_00_dot_96_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 Cup_bar__minus_01_dot_04_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 Fork_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 Plate_bar__minus_01_dot_13_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 DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_78 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle DishSponge_bar__plus_01_dot_41_bar__plus_00_dot_75_bar__plus_00_dot_98 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_00_dot_92) + (inReceptacle Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Tomato_bar__minus_00_dot_94_bar__plus_00_dot_63_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Apple_bar__minus_00_dot_97_bar__plus_01_dot_37_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Lettuce_bar__minus_00_dot_94_bar__plus_00_dot_66_bar__minus_00_dot_03 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Mug_bar__minus_00_dot_95_bar__plus_00_dot_20_bar__minus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Potato_bar__minus_01_dot_01_bar__plus_00_dot_85_bar__plus_00_dot_27 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Tomato_bar__minus_01_dot_07_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 SoapBottle_bar__plus_01_dot_39_bar__plus_00_dot_07_bar__plus_02_dot_91 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Egg_bar__plus_01_dot_39_bar__plus_00_dot_11_bar__plus_03_dot_01 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Egg_bar__plus_01_dot_56_bar__plus_00_dot_11_bar__plus_03_dot_01 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Apple_bar__plus_01_dot_39_bar__plus_00_dot_89_bar__plus_01_dot_37 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 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) + (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 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) + 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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_59_bar__plus_00_dot_93_bar__plus_00_dot_74 loc_bar_3_bar_8_bar_1_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_12_bar__plus_01_dot_50_bar__plus_02_dot_52 loc_bar__minus_1_bar_10_bar_3_bar__minus_15) + (objectAtLocation Egg_bar__plus_01_dot_60_bar__plus_00_dot_98_bar__plus_01_dot_76 loc_bar_4_bar_5_bar_1_bar_60) + (objectAtLocation DishSponge_bar__plus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_78 loc_bar_2_bar_3_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_37 loc_bar_2_bar_1_bar_1_bar_60) + (objectAtLocation Potato_bar__minus_00_dot_98_bar__plus_00_dot_60_bar__plus_00_dot_27 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+ "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 103112579, + "scene_num": 12 + }, + "task_id": "trial_T20190910_151939_914332", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A13OOAT2ORKH6V_3X0H8UUIT4FQDRZ7MM791EWE4S6WS0", + "high_descs": [ + "Walk to the sink to your left.", + "Pick up the egg sitting on the ledge of the counter between the lettuce and apple.", + "Look up to the microwave.", + "Place the egg inside the microwave, cook it then remove it.", + "With the egg, look down and walk to the waste basket to your left.", + "Place the cooked egg inside the waste basket." + ], + "task_desc": "Place a cooked egg inside the waste basket.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3AMYWKA6YEDDLKS8ONDWJFN0J1NO67", + "high_descs": [ + "Go forward, turn to the sink on the left. ", + "Pick up the egg that is on the sink.", + "Raise the egg up to the microwave.", + "Put the egg into the microwave and turn it on to cook, remove the egg when it is done cooking.", + "Hang a left, go to the garbage can at the end of the counter. ", + "Put the egg in the garbage can." + ], + "task_desc": "Put a cooked egg in a garbage can.", + "votes": [ + 1, + 1, + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A1CPNA5L0J834N_3HQUKB7LNI5JQSQ2GT9AWXFPG1THHX", + "high_descs": [ + "walk forward then turn left towards the sink ", + "pick up egg from the sink ", + "lift egg up towards microwave ", + "place egg in microwave cook the egg and pull it back out ", + "turn left walk forward and turn right at the trash can ", + "throw egg in the trash can " + ], + "task_desc": "cook the egg from the sink and then throw it 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-12/trial_T20190910_153541_399109/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190910_153541_399109/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..03a1b05a2a63e9d799bb8eecc112bc77bddb77ab --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-GarbageCan-12/trial_T20190910_153541_399109/initial_state.pddl @@ -0,0 +1,1037 @@ + +(define (problem plan_trial_T20190910_153541_399109) +(: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_86_bar__plus_00_dot_62_bar__plus_00_dot_04 - object + Bowl_bar__plus_01_dot_35_bar__plus_00_dot_08_bar__plus_00_dot_99 - object + Bowl_bar__minus_00_dot_84_bar__plus_00_dot_20_bar__minus_00_dot_04 - object + Bowl_bar__minus_00_dot_97_bar__plus_01_dot_32_bar__plus_00_dot_04 - object + Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27 - object + ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_84 - object + Chair_bar__minus_00_dot_75_bar__plus_00_dot_01_bar__plus_03_dot_12 - object + Cup_bar__minus_00_dot_96_bar__plus_00_dot_81_bar__plus_00_dot_04 - object + DishSponge_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_08 - object + DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_16 - object + Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_37 - object + Faucet_bar__plus_01_dot_71_bar__plus_00_dot_93_bar__plus_01_dot_36 - object + Fork_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_94 - object + Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_77 - object + Fork_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77 - object + Knife_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_78 - object + Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_81 - object + Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_77 - object + LightSwitch_bar__plus_00_dot_45_bar__plus_01_dot_41_bar__minus_01_dot_68 - object + Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_02_dot_02 - object + Mug_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_52 - object + Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39 - object + Pan_bar__minus_00_dot_92_bar__plus_01_dot_50_bar__plus_00_dot_12 - object + PepperShaker_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_02_dot_31 - object + PepperShaker_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_25 - object + PepperShaker_bar__minus_01_dot_16_bar__plus_01_dot_50_bar__plus_02_dot_19 - object + Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01 - object + Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_85 - object + Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_24 - object + Potato_bar__plus_01_dot_41_bar__plus_00_dot_98_bar__plus_01_dot_71 - object + Potato_bar__minus_01_dot_02_bar__plus_01_dot_53_bar__plus_00_dot_35 - 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_77_bar__plus_00_dot_93_bar__plus_01_dot_89 - object + Sink_bar__plus_01_dot_54_bar__plus_00_dot_87_bar__plus_01_dot_64 - object + SoapBottle_bar__plus_01_dot_49_bar__plus_00_dot_07_bar__plus_02_dot_91 - object + SoapBottle_bar__plus_01_dot_55_bar__plus_00_dot_94_bar__plus_01_dot_80 - object + Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_02_dot_46 - object + Spatula_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_01_dot_59 - object + Spoon_bar__minus_00_dot_79_bar__plus_00_dot_75_bar__plus_00_dot_98 - 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_92_bar__plus_01_dot_56_bar__minus_00_dot_11 - 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_5_bar_1_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 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Bowl_bar__minus_00_dot_97_bar__plus_01_dot_32_bar__plus_00_dot_04) + (isReceptacleObject Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01) + (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_4_bar_5_bar_1_bar_30) + + (cleanable Fork_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_00_dot_77) + (cleanable Tomato_bar__minus_00_dot_92_bar__plus_01_dot_56_bar__minus_00_dot_11) + (cleanable Fork_bar__minus_00_dot_96_bar__plus_00_dot_94_bar__plus_00_dot_77) + (cleanable Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_24) + (cleanable Potato_bar__minus_01_dot_02_bar__plus_01_dot_53_bar__plus_00_dot_35) + (cleanable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_08_bar__plus_00_dot_99) + (cleanable Spoon_bar__minus_00_dot_79_bar__plus_00_dot_75_bar__plus_00_dot_98) + (cleanable Pan_bar__minus_00_dot_92_bar__plus_01_dot_50_bar__plus_00_dot_12) + (cleanable Apple_bar__minus_00_dot_86_bar__plus_00_dot_62_bar__plus_00_dot_04) + (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (cleanable Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_85) + (cleanable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (cleanable Bowl_bar__minus_00_dot_84_bar__plus_00_dot_20_bar__minus_00_dot_04) + (cleanable Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_02_dot_46) + (cleanable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_81) + (cleanable Mug_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_52) + (cleanable DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_16) + (cleanable Knife_bar__minus_00_dot_86_bar__plus_00_dot_77_bar__plus_00_dot_78) + (cleanable Fork_bar__plus_01_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_94) + (cleanable Potato_bar__plus_01_dot_41_bar__plus_00_dot_98_bar__plus_01_dot_71) + (cleanable DishSponge_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_08) + (cleanable Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_37) + (cleanable Spatula_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_01_dot_59) + (cleanable Cup_bar__minus_00_dot_96_bar__plus_00_dot_81_bar__plus_00_dot_04) + (cleanable ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_84) + (cleanable Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_02_dot_02) + (cleanable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (cleanable Bowl_bar__minus_00_dot_97_bar__plus_01_dot_32_bar__plus_00_dot_04) + (cleanable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_77) + (cleanable Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01) + + (heatable Tomato_bar__minus_00_dot_92_bar__plus_01_dot_56_bar__minus_00_dot_11) + (heatable Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_24) + (heatable Potato_bar__minus_01_dot_02_bar__plus_01_dot_53_bar__plus_00_dot_35) + (heatable Apple_bar__minus_00_dot_86_bar__plus_00_dot_62_bar__plus_00_dot_04) + (heatable Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_85) + (heatable Mug_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_52) + (heatable Potato_bar__plus_01_dot_41_bar__plus_00_dot_98_bar__plus_01_dot_71) + (heatable Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_37) + (heatable Cup_bar__minus_00_dot_96_bar__plus_00_dot_81_bar__plus_00_dot_04) + (heatable Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_02_dot_02) + (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 Tomato_bar__minus_00_dot_92_bar__plus_01_dot_56_bar__minus_00_dot_11) + (coolable Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_24) + (coolable Potato_bar__minus_01_dot_02_bar__plus_01_dot_53_bar__plus_00_dot_35) + (coolable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_08_bar__plus_00_dot_99) + (coolable Pan_bar__minus_00_dot_92_bar__plus_01_dot_50_bar__plus_00_dot_12) + (coolable Apple_bar__minus_00_dot_86_bar__plus_00_dot_62_bar__plus_00_dot_04) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_87) + (coolable Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_85) + (coolable Pan_bar__plus_01_dot_38_bar__plus_01_dot_74_bar__plus_00_dot_39) + (coolable Bowl_bar__minus_00_dot_84_bar__plus_00_dot_20_bar__minus_00_dot_04) + (coolable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_81) + (coolable Mug_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_52) + (coolable Potato_bar__plus_01_dot_41_bar__plus_00_dot_98_bar__plus_01_dot_71) + (coolable Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_37) + (coolable Cup_bar__minus_00_dot_96_bar__plus_00_dot_81_bar__plus_00_dot_04) + (coolable Mug_bar__plus_01_dot_59_bar__plus_00_dot_93_bar__plus_02_dot_02) + (coolable Pot_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_01_dot_47) + (coolable Bowl_bar__minus_00_dot_97_bar__plus_01_dot_32_bar__plus_00_dot_04) + (coolable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_77) + (coolable Plate_bar__plus_01_dot_38_bar__plus_01_dot_06_bar__plus_00_dot_01) + (coolable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + + + + + + (sliceable Tomato_bar__minus_00_dot_92_bar__plus_01_dot_56_bar__minus_00_dot_11) + (sliceable Potato_bar__minus_01_dot_02_bar__plus_01_dot_53_bar__plus_00_dot_35) + (sliceable Apple_bar__minus_00_dot_86_bar__plus_00_dot_62_bar__plus_00_dot_04) + (sliceable Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_81) + (sliceable Potato_bar__plus_01_dot_41_bar__plus_00_dot_98_bar__plus_01_dot_71) + (sliceable Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_37) + (sliceable Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_77) + (sliceable Bread_bar__minus_00_dot_92_bar__plus_00_dot_99_bar__plus_02_dot_27) + + (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 DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_16 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_02_dot_39) + (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 Spatula_bar__plus_01_dot_28_bar__plus_00_dot_76_bar__plus_02_dot_46 Drawer_bar__plus_01_dot_37_bar__plus_00_dot_77_bar__plus_02_dot_39) + (inReceptacle Fork_bar__plus_01_dot_29_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 Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_00_dot_81 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle PepperShaker_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_02_dot_31 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle SaltShaker_bar__plus_01_dot_77_bar__plus_00_dot_93_bar__plus_01_dot_89 CounterTop_bar__plus_01_dot_51_bar__plus_00_dot_97_bar__plus_02_dot_31) + (inReceptacle Mug_bar__plus_01_dot_59_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 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 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 Plate_bar__minus_00_dot_79_bar__plus_00_dot_09_bar__plus_00_dot_85 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle DishSponge_bar__minus_01_dot_04_bar__plus_01_dot_83_bar__minus_00_dot_08 Cabinet_bar__minus_00_dot_91_bar__plus_02_dot_05_bar__minus_00_dot_33) + (inReceptacle Plate_bar__minus_00_dot_80_bar__plus_00_dot_09_bar__plus_02_dot_24 Cabinet_bar__minus_00_dot_63_bar__plus_00_dot_39_bar__plus_02_dot_11) + (inReceptacle Mug_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__plus_02_dot_52 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_70) + (inReceptacle Knife_bar__minus_00_dot_86_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 Spoon_bar__minus_00_dot_79_bar__plus_00_dot_75_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 Fork_bar__minus_00_dot_96_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 Lettuce_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_00_dot_77 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_77 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle ButterKnife_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__plus_00_dot_84 CounterTop_bar__minus_00_dot_97_bar__plus_00_dot_97_bar__plus_00_dot_92) + (inReceptacle Bowl_bar__plus_01_dot_35_bar__plus_00_dot_08_bar__plus_00_dot_99 Cabinet_bar__plus_01_dot_22_bar__plus_00_dot_39_bar__plus_00_dot_63) + (inReceptacle PepperShaker_bar__minus_01_dot_08_bar__plus_01_dot_50_bar__plus_02_dot_25 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11) + (inReceptacle PepperShaker_bar__minus_01_dot_16_bar__plus_01_dot_50_bar__plus_02_dot_19 Cabinet_bar__minus_00_dot_91_bar__plus_01_dot_81_bar__plus_02_dot_11) + (inReceptacle Bowl_bar__minus_00_dot_97_bar__plus_01_dot_32_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Tomato_bar__minus_00_dot_92_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 Cup_bar__minus_00_dot_96_bar__plus_00_dot_81_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_84_bar__plus_00_dot_20_bar__minus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Potato_bar__minus_01_dot_02_bar__plus_01_dot_53_bar__plus_00_dot_35 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Pan_bar__minus_00_dot_92_bar__plus_01_dot_50_bar__plus_00_dot_12 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle Apple_bar__minus_00_dot_86_bar__plus_00_dot_62_bar__plus_00_dot_04 Fridge_bar__minus_01_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_12) + (inReceptacle SoapBottle_bar__plus_01_dot_49_bar__plus_00_dot_07_bar__plus_02_dot_91 GarbageCan_bar__plus_01_dot_45_bar__plus_00_dot_00_bar__plus_02_dot_91) + (inReceptacle Egg_bar__plus_01_dot_39_bar__plus_00_dot_88_bar__plus_01_dot_37 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 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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 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) + (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 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) + 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0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5fe99c37", + "position": { + "x": -0.792800069, + "y": 0.7476966, + "z": 0.9829687 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c6f8cd8f", + "position": { + "x": 1.59296286, + "y": 0.9329, + "z": 2.02297 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 384899673, + "scene_num": 12 + }, + "task_id": "trial_T20190910_153541_399109", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_34S6N1K2ZYALCO9S7EO8OP8WXAHLH7", + "high_descs": [ + "Step back from the sink. ", + "Pick up the egg that is in the sink. ", + "Go to the microwave a little to your left and above the sink. ", + "Place the egg in the microwave, heat it up, then remove the egg from the microwave. ", + "Turn to your left and go to the garbage can to your right, on the floor, at the end of the counter. ", + "Place the egg in the garbage can. " + ], + "task_desc": "Put a warm egg in the garbage can. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1G1OO4IWM8EP5_3TXMY6UCAHF5MDEPDRI3UKAAUP1CQI", + "high_descs": [ + "Look down at the sink.", + "Pick up the egg from the sink.", + "Open the microwave door.", + "Put the egg in the microwave above the sink. Turn on. Open the door and remove the egg. Close the door.", + "Turn left and walk to the edge of the kitchen counter to the trash can.", + "Put egg in the trash can in the back left corner." + ], + "task_desc": "Heat up egg and put in trash can.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3C2NJ6JBKD87LY9V061GED6JDMWN2Q", + "high_descs": [ + "Face the sink in front of you.", + "Take the potato from the sink in front of you.", + "Turn left then face the microwave on top of the sink to your right.", + "Place the potato in the microwave and take it out.", + "Turn left then face the metal bin on your right.", + "Place the potato in the metal bin in front of you." + ], + "task_desc": "Place a hot potato in the metal bin.", + "votes": [ + 1, + 0, + 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-Fridge-19/trial_T20190907_235540_283485/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-19/trial_T20190907_235540_283485/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..46774028f0688a1a89c2eae69e0f509f7129a399 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-19/trial_T20190907_235540_283485/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 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_T20190907_235540_283485)\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_76_bar__minus_00_dot_55 - object\n Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78 - object\n Bowl_bar__minus_00_dot_41_bar__plus_00_dot_08_bar__minus_00_dot_92 - object\n Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_01_dot_26 - object\n Bowl_bar__minus_03_dot_08_bar__plus_00_dot_64_bar__minus_02_dot_06 - object\n Bread_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_62 - object\n ButterKnife_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_01 - 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_08_bar__plus_00_dot_91_bar__minus_03_dot_01 - object\n Cup_bar__minus_00_dot_49_bar__plus_00_dot_08_bar__minus_03_dot_08 - object\n Cup_bar__minus_03_dot_13_bar__plus_01_dot_87_bar__minus_02_dot_03 - object\n DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_75_bar__minus_01_dot_41 - object\n DishSponge_bar__minus_02_dot_53_bar__plus_00_dot_72_bar__minus_00_dot_43 - object\n DishSponge_bar__minus_02_dot_90_bar__plus_00_dot_72_bar__minus_00_dot_73 - object\n Egg_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_01_dot_56 - object\n Egg_bar__minus_01_dot_71_bar__plus_00_dot_83_bar__minus_03_dot_88 - 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_10_bar__plus_00_dot_92_bar__minus_01_dot_56 - object\n Fork_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_52 - object\n Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_73 - object\n Knife_bar__minus_03_dot_56_bar__plus_00_dot_95_bar__minus_03_dot_13 - object\n Lettuce_bar__minus_03_dot_08_bar__plus_01_dot_49_bar__minus_02_dot_00 - 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_35_bar__plus_01_dot_29_bar__minus_03_dot_73 - object\n Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 - object\n Mug_bar__minus_03_dot_06_bar__plus_00_dot_88_bar__minus_02_dot_53 - object\n 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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 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 CoffeeMachineType MugType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n 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Knife_bar__minus_03_dot_56_bar__plus_00_dot_95_bar__minus_03_dot_13)\n (cleanable DishSponge_bar__minus_02_dot_53_bar__plus_00_dot_72_bar__minus_00_dot_43)\n (cleanable Bowl_bar__minus_00_dot_41_bar__plus_00_dot_08_bar__minus_00_dot_92)\n (cleanable Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78)\n (cleanable Spoon_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_07)\n (cleanable DishSponge_bar__minus_02_dot_90_bar__plus_00_dot_72_bar__minus_00_dot_73)\n (cleanable Egg_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_01_dot_56)\n (cleanable Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_01_dot_26)\n (cleanable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_75_bar__minus_01_dot_41)\n (cleanable Mug_bar__minus_00_dot_35_bar__plus_01_dot_29_bar__minus_03_dot_73)\n (cleanable Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_01)\n \n (heatable Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36)\n (heatable 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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 SaltShaker_bar__minus_00_dot_33_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)\n (inReceptacle Spoon_bar__minus_00_dot_16_bar__plus_00_dot_91_bar__minus_02_dot_81 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle ButterKnife_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)\n (inReceptacle Plate_bar__minus_00_dot_24_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 Cup_bar__minus_00_dot_08_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)\n (inReceptacle Fork_bar__minus_02_dot_99_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 Pan_bar__minus_01_dot_06_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 Knife_bar__minus_03_dot_56_bar__plus_00_dot_95_bar__minus_03_dot_13 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle SoapBottle_bar__minus_03_dot_17_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 Bowl_bar__minus_00_dot_41_bar__plus_00_dot_08_bar__minus_00_dot_92 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45)\n (inReceptacle Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_01_dot_26 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73)\n (inReceptacle Cup_bar__minus_03_dot_13_bar__plus_01_dot_87_bar__minus_02_dot_03 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74)\n (inReceptacle PepperShaker_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_02_dot_97 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74)\n (inReceptacle Cup_bar__minus_00_dot_49_bar__plus_00_dot_08_bar__minus_03_dot_08 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74)\n (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_01_dot_29_bar__minus_03_dot_73 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24)\n (inReceptacle Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle DishSponge_bar__minus_02_dot_90_bar__plus_00_dot_72_bar__minus_00_dot_73 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 Tomato_bar__minus_02_dot_56_bar__plus_00_dot_77_bar__minus_00_dot_19 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Apple_bar__minus_02_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_55 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_64 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 Plate_bar__minus_02_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_89 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Potato_bar__minus_03_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_65 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Bread_bar__minus_02_dot_58_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 Spatula_bar__minus_03_dot_29_bar__plus_00_dot_73_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle DishSponge_bar__minus_02_dot_53_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 DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_75_bar__minus_01_dot_41 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Egg_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Fork_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_52 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Fork_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_37 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 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 (inReceptacleObject Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_73 Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75)\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_08_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 Mug_bar__minus_03_dot_06_bar__plus_00_dot_88_bar__minus_02_dot_53 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_00_dot_64_bar__minus_02_dot_06 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Spoon_bar__minus_01_dot_72_bar__plus_00_dot_78_bar__minus_03_dot_82 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_85_bar__plus_00_dot_81_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 Egg_bar__minus_01_dot_71_bar__plus_00_dot_83_bar__minus_03_dot_88 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_00_dot_41_bar__plus_00_dot_08_bar__minus_00_dot_92 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_03_dot_06_bar__plus_00_dot_88_bar__minus_02_dot_53 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_72_bar__plus_00_dot_78_bar__minus_03_dot_82 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_75_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_37 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_30_bar__plus_00_dot_08_bar__minus_02_dot_97 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_03_dot_66 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_17_bar__plus_00_dot_91_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78 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_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_52 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_03_dot_01 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_71_bar__plus_00_dot_83_bar__minus_03_dot_88 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_35_bar__plus_01_dot_29_bar__minus_03_dot_73 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (objectAtLocation Bowl_bar__minus_03_dot_08_bar__plus_00_dot_64_bar__minus_02_dot_06 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_65_bar__plus_00_dot_72_bar__minus_00_dot_89 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_13_bar__plus_01_dot_87_bar__minus_02_dot_03 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (objectAtLocation Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_73 loc_bar__minus_8_bar__minus_13_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 DishSponge_bar__minus_02_dot_90_bar__plus_00_dot_72_bar__minus_00_dot_73 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_00_dot_34_bar__plus_00_dot_95_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_49_bar__plus_00_dot_08_bar__minus_03_dot_08 loc_bar__minus_6_bar__minus_13_bar_1_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_58_bar__plus_00_dot_76_bar__minus_00_dot_62 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_73 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_65 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_08_bar__plus_01_dot_49_bar__minus_02_dot_00 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_56_bar__plus_00_dot_77_bar__minus_00_dot_19 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_72_bar__plus_00_dot_76_bar__minus_00_dot_55 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_00_dot_51 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_03_dot_29_bar__plus_00_dot_73_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_33_bar__plus_00_dot_91_bar__minus_03_dot_01 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_03_dot_56_bar__plus_00_dot_95_bar__minus_03_dot_13 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_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_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 Plate_bar__minus_00_dot_24_bar__plus_00_dot_91_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_53_bar__plus_00_dot_72_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_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_00_dot_16_bar__plus_00_dot_91_bar__minus_02_dot_81 loc_bar__minus_4_bar__minus_13_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_45_bar__plus_00_dot_08_bar__minus_01_dot_26 loc_bar__minus_7_bar__minus_4_bar_1_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 FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take potato 1 from diningtable 1", "go to microwave 1", "heat potato 1 with microwave 1", "go to fridge 1", "open fridge 1", "move potato 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-Potato-None-Fridge-19/trial_T20190907_235540_283485/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-19/trial_T20190907_235540_283485/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d9afa308ffc52642bdca5e6db6d7052f5ea239dc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-19/trial_T20190907_235540_283485/initial_state.pddl @@ -0,0 +1,1114 @@ + +(define (problem plan_trial_T20190907_235540_283485) +(: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_76_bar__minus_00_dot_55 - object + Apple_bar__minus_02_dot_80_bar__plus_00_dot_76_bar__minus_00_dot_78 - object + 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DishSponge_bar__minus_02_dot_90_bar__plus_00_dot_72_bar__minus_00_dot_73 - object + Egg_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_01_dot_56 - object + Egg_bar__minus_01_dot_71_bar__plus_00_dot_83_bar__minus_03_dot_88 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_56 - object + Fork_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_52 - object + Fork_bar__minus_02_dot_99_bar__plus_00_dot_91_bar__minus_03_dot_73 - object + Knife_bar__minus_03_dot_56_bar__plus_00_dot_95_bar__minus_03_dot_13 - object + Lettuce_bar__minus_03_dot_08_bar__plus_01_dot_49_bar__minus_02_dot_00 - object + LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object + Mug_bar__minus_00_dot_35_bar__plus_01_dot_29_bar__minus_03_dot_73 - object + Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 - object + 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SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Egg_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Fork_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_52 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Fork_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_37 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 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"rotation": { + "x": 0.0, + "y": 134.999786, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -0.3521942, + "y": 1.29212511, + "z": -3.73019385 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Apple_1634f71e", + "position": { + "x": -2.721064, + "y": 0.756410062, + "z": -0.552347839 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "Pot_fd5c5c80", + "position": { + "x": -2.836, + "y": 0.9039041, + "z": -3.745 + }, + "rotation": { + "x": 0.0, + "y": 92.62838, + "z": 0.0 + } + }, + { + "objectName": "Egg_b0ce4484", + "position": { + "x": -1.70727515, + "y": 0.827780843, + "z": -3.875726 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_410beacd", + "position": { + "x": -0.0763015747, + "y": 0.9140253, + "z": -3.012186 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_77e17ce3", + "position": { + "x": -2.581425, + "y": 0.757839143, + "z": -0.621000051 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_1cd5bb8d", + "position": { + "x": -0.41940096, + "y": 0.9165485, + "z": -0.524823248 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_4966d0cc", + "position": { + "x": -0.3767, + "y": 0.9759, + "z": -2.0314 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Potato_2b74ee3a", + "position": { + "x": -3.11107755, + "y": 0.757567048, + "z": -0.652889132 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_908150ce", + "position": { + "x": -3.07920742, + "y": 1.486718, + "z": -2.002615 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Tomato_f34461c5", + "position": { + "x": -2.56417465, + "y": 0.7665509, + "z": -0.194374859 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "Apple_1634f71e", + "position": { + "x": -2.8033, + "y": 0.756410062, + "z": -0.780375 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_dd4bbd23", + "position": { + "x": -3.16700172, + "y": 0.9132963, + "z": -3.804 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_fca8a224", + "position": { + "x": -1.84543049, + "y": 0.805556, + "z": -3.66151619 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "SaltShaker_2ce80e75", + "position": { + "x": -0.3286835, + "y": 0.910006046, + "z": -3.012186 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_46bffc5f", + "position": { + "x": -3.5615468, + "y": 0.94613713, + "z": -3.12682819 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_5fac94a5", + "position": { + "x": -0.29623422, + "y": 0.07726812, + "z": -2.96746945 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_a7531534", + "position": { + "x": -0.244556189, + "y": 0.913742, + "z": -3.012186 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_bdd88192", + "position": { + "x": -0.41940093, + "y": 0.914150357, + "z": -1.3709687 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_78f219bc", + "position": { + "x": -0.412048727, + "y": 0.745905757, + "z": -1.408872 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_94d2125c", + "position": { + "x": -1.72390974, + "y": 0.7804006, + "z": -3.81646085 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -3.05948019, + "y": 0.8814038, + "z": -2.531622 + }, + "rotation": { + "x": 0.0, + "y": 179.999832, + "z": 0.0 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -0.4135693, + "y": 0.07809031, + "z": -0.9157784 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3296057218, + "scene_num": 19 + }, + "task_id": "trial_T20190907_235540_283485", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_33UKMF931C1RFLMUK9I7ND1Z8VPTTE", + "high_descs": [ + "Move forward to the round dining table.", + "Pick up the potato on the table. ", + "Turn left, bring the potato to the microwave.", + "Heat the potato in the microwave.", + "Take the heated potato from the microwave, turn around, bring the potato to the fridge.", + "Put the heated potato in the fridge." + ], + "task_desc": "Put a heated potato in the fridge. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_34Q075JO10UPQSDUKOANXWGZJ2E01F", + "high_descs": [ + "Walk forward and go to the table on your left.", + "Pick up the potato from the table.", + "Turn around and go to the microwave.", + "Heat the potato and pick it up again.", + "Turn around and go to the fridge.", + "Put the potato in the fridge." + ], + "task_desc": "Put a cooked potato in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3E47SOBEYTDKKQ484BODKWZM9SWCIK", + "high_descs": [ + "Walk towards the round table.", + "Pick up the potato near the spatula on the table.", + "Turn right and head towards the microwave on the counter.", + "Place the potato in the microwave, heat it up, and take it back out.", + "Turn right towards the sink and then turn right towards the fridge.", + "Place the potato on the top right shelf inside the fridge." + ], + "task_desc": "Place a cooked potato on the top right shelf inside 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-Potato-None-Fridge-19/trial_T20190907_235608_554084/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-19/trial_T20190907_235608_554084/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2d76804702165ac6d567cfc9e36f282ab7542894 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-19/trial_T20190907_235608_554084/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 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_T20190907_235608_554084)\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_00_dot_76_bar__minus_00_dot_50 - object\n Apple_bar__minus_02_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_79 - object\n Apple_bar__minus_03_dot_13_bar__plus_00_dot_68_bar__minus_02_dot_19 - object\n Bowl_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_02_dot_06 - object\n Bowl_bar__minus_03_dot_11_bar__plus_00_dot_71_bar__minus_00_dot_65 - 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 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_26_bar__plus_00_dot_92_bar__minus_01_dot_31 - object\n Cup_bar__minus_02_dot_53_bar__plus_00_dot_72_bar__minus_00_dot_56 - object\n Cup_bar__minus_03_dot_34_bar__plus_01_dot_29_bar__minus_03_dot_18 - object\n DishSponge_bar__minus_00_dot_14_bar__plus_01_dot_29_bar__minus_00_dot_70 - object\n DishSponge_bar__minus_01_dot_71_bar__plus_00_dot_79_bar__minus_03_dot_70 - object\n Egg_bar__minus_01_dot_91_bar__plus_00_dot_83_bar__minus_03_dot_66 - object\n Egg_bar__minus_02_dot_44_bar__plus_00_dot_75_bar__minus_00_dot_62 - object\n Egg_bar__minus_03_dot_01_bar__plus_00_dot_92_bar__minus_02_dot_41 - object\n Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object\n Fork_bar__minus_02_dot_58_bar__plus_00_dot_71_bar__minus_00_dot_37 - object\n Fork_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__minus_02_dot_83 - object\n Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_43 - object\n Knife_bar__minus_00_dot_53_bar__plus_00_dot_78_bar__minus_02_dot_91 - object\n Lettuce_bar__minus_00_dot_08_bar__plus_01_dot_00_bar__minus_03_dot_11 - object\n Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_43 - 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_07_bar__plus_01_dot_29_bar__minus_00_dot_92 - object\n Mug_bar__minus_02_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_36 - object\n 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Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34)\n (inReceptacle SaltShaker_bar__minus_00_dot_79_bar__plus_01_dot_29_bar__minus_03_dot_97 Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76)\n (inReceptacle SoapBottle_bar__minus_00_dot_08_bar__plus_01_dot_87_bar__minus_01_dot_83 Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77)\n (inReceptacle Cup_bar__minus_02_dot_53_bar__plus_00_dot_72_bar__minus_00_dot_56 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_37 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Apple_bar__minus_02_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_79 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 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CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Cup_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_31 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_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Spoon_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 Pan_bar__minus_00_dot_17_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 Knife_bar__minus_00_dot_53_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 Pan_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)\n (inReceptacle Pan_bar__minus_00_dot_38_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 (inReceptacle Potato_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_01 GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04)\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_01_dot_94 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Apple_bar__minus_03_dot_13_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 Bowl_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_02_dot_06 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Tomato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_01_dot_94 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Egg_bar__minus_03_dot_01_bar__plus_00_dot_92_bar__minus_02_dot_41 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Egg_bar__minus_01_dot_91_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 DishSponge_bar__minus_01_dot_71_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_03_dot_11_bar__plus_00_dot_71_bar__minus_00_dot_65 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 Spoon_bar__minus_02_dot_56_bar__plus_00_dot_72_bar__minus_00_dot_80 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_14_bar__plus_01_dot_29_bar__minus_00_dot_70 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (objectAtLocation Plate_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_01_dot_94 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation PepperShaker_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_00_dot_53_bar__plus_00_dot_78_bar__minus_02_dot_91 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_47_bar__plus_00_dot_76_bar__minus_01_dot_33 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_37_bar__plus_00_dot_08_bar__minus_01_dot_18 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_74_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_01_dot_94 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_08_bar__plus_01_dot_00_bar__minus_03_dot_11 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_17_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_58_bar__plus_00_dot_71_bar__minus_00_dot_37 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_53_bar__plus_00_dot_72_bar__minus_00_dot_56 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_03_dot_01_bar__plus_00_dot_92_bar__minus_02_dot_41 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_79 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_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_25 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_91_bar__plus_00_dot_83_bar__minus_03_dot_66 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Spoon_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 Spatula_bar__minus_00_dot_01_bar__plus_00_dot_93_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_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_03_dot_14_bar__plus_00_dot_92_bar__minus_02_dot_93 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_44_bar__plus_00_dot_75_bar__minus_00_dot_62 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_34_bar__plus_01_dot_29_bar__minus_03_dot_18 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\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_31_bar__plus_00_dot_91_bar__minus_02_dot_83 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_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_22_bar__plus_00_dot_12_bar__plus_00_dot_01 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_03_dot_29_bar__plus_00_dot_80_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_33_bar__plus_00_dot_96_bar__minus_03_dot_01 loc_bar__minus_4_bar__minus_13_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_13_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_08_bar__plus_01_dot_87_bar__minus_01_dot_83 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (objectAtLocation Spatula_bar__minus_02_dot_27_bar__plus_00_dot_93_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_79_bar__plus_01_dot_29_bar__minus_03_dot_97 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (objectAtLocation Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_43 loc_bar__minus_4_bar__minus_5_bar_1_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_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 Plate_bar__minus_03_dot_23_bar__plus_01_dot_87_bar__minus_02_dot_33 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (objectAtLocation DishSponge_bar__minus_01_dot_71_bar__plus_00_dot_79_bar__minus_03_dot_70 loc_bar__minus_8_bar__minus_13_bar_2_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_02_dot_68_bar__plus_00_dot_72_bar__minus_00_dot_50 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_07_bar__plus_01_dot_29_bar__minus_00_dot_92 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (objectAtLocation Bowl_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_02_dot_06 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 (heatable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take potato 1 from garbagecan 1", "go to microwave 1", "heat potato 1 with microwave 1", "go to fridge 1", "open fridge 1", "move potato 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-Potato-None-Fridge-19/trial_T20190907_235608_554084/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-19/trial_T20190907_235608_554084/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..345b5492ad770e3c7084868cc925341bae287a84 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-19/trial_T20190907_235608_554084/initial_state.pddl @@ -0,0 +1,1135 @@ + +(define (problem plan_trial_T20190907_235608_554084) +(: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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"objectName": "Cup_410beacd", + "position": { + "x": -0.257330954, + "y": 0.9163254, + "z": -1.30962193 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_bdd88192", + "position": { + "x": -3.22617, + "y": 1.866308, + "z": -2.33494782 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_46bffc5f", + "position": { + "x": -0.257330954, + "y": 0.9484372, + "z": -1.43231547 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_f34461c5", + "position": { + "x": -0.3286835, + "y": 0.9632834, + "z": -3.012186 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_f34461c5", + "position": { + "x": -2.70891047, + "y": 0.7665509, + "z": -0.250722349 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_dd4bbd23", + "position": { + "x": -0.07703659, + "y": 1.86775422, + "z": -1.83383763 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -3.07920742, + "y": 1.3965019, + "z": -2.06418514 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_5fac94a5", + "position": { + "x": -0.09526098, + "y": 0.9123061, + "z": -0.4902684 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_5fac94a5", + "position": { + "x": -0.5006437, + "y": 0.742647648, + "z": -0.912980556 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_908150ce", + "position": { + "x": -3.29236221, + "y": 0.8047816, + "z": -0.433499932 + }, + "rotation": { + "x": 0.0, + "y": 4.829673e-06, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -0.06848928, + "y": 1.28942239, + "z": -0.923875153 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_1634f71e", + "position": { + "x": -3.13095474, + "y": 0.6838798, + "z": -2.18732548 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Apple_1634f71e", + "position": { + "x": -2.75310516, + "y": 0.759607255, + "z": -0.7854723 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "Pot_fd5c5c80", + "position": { + "x": -3.14090919, + "y": 0.9161195, + "z": -2.92600584 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_b0ce4484", + "position": { + "x": -3.014288, + "y": 0.92230463, + "z": -2.40976715 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Cup_410beacd", + "position": { + "x": -2.53213358, + "y": 0.7172928, + "z": -0.5645016 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "Bread_77e17ce3", + "position": { + "x": -0.327003956, + "y": 0.948122144, + "z": -3.681027 + }, + "rotation": { + "x": 0.00391676836, + "y": 298.222839, + "z": 0.0434030928 + } + }, + { + "objectName": "Fork_1cd5bb8d", + "position": { + "x": -2.581425, + "y": 0.714318752, + "z": -0.371000022 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_4966d0cc", + "position": { + "x": -0.1653, + "y": 0.9759, + "z": -2.0309 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Potato_2b74ee3a", + "position": { + "x": -0.2233636, + "y": 0.123593524, + "z": 0.0126149617 + }, + "rotation": { + "x": 0.0, + "y": 269.999969, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_908150ce", + "position": { + "x": -0.0763015747, + "y": 1.0015142, + "z": -3.112597 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_f34461c5", + "position": { + "x": -3.23445034, + "y": 1.06308734, + "z": -1.94104528 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Apple_1634f71e", + "position": { + "x": -2.7408, + "y": 0.759607255, + "z": -0.496 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_dd4bbd23", + "position": { + "x": -0.37460953, + "y": 0.0800885558, + "z": -1.18240309 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_fca8a224", + "position": { + "x": -0.471111983, + "y": 0.76188755, + "z": -1.331406 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_2ce80e75", + "position": { + "x": -0.7929727, + "y": 1.28921223, + "z": -3.96681571 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_46bffc5f", + "position": { + "x": -0.5301752, + "y": 0.778778732, + "z": -2.91359067 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_5fac94a5", + "position": { + "x": -0.471112043, + "y": 0.7431938, + "z": -0.837175131 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_a7531534", + "position": { + "x": -2.2414968, + "y": 0.90390414, + "z": -3.59148455 + }, + "rotation": { + "x": 0.0, + "y": 14.9999714, + "z": 0.0 + } + }, + { + "objectName": "Plate_bdd88192", + "position": { + "x": -3.182703, + "y": 0.6393903, + "z": -1.94104648 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_78f219bc", + "position": { + "x": -0.144137025, + "y": 1.29398668, + "z": -0.6960193 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_94d2125c", + "position": { + "x": -2.564175, + "y": 0.7180968, + "z": -0.797625959 + }, + "rotation": { + "x": 0.0, + "y": 135.000092, + "z": 0.0 + } + }, + { + "objectName": "Mug_f4b8ca2f", + "position": { + "x": -2.93075848, + "y": 0.7624277, + "z": -0.358240366 + }, + "rotation": { + "x": -0.00221326249, + "y": 134.999649, + "z": -0.00139168522 + } + }, + { + "objectName": "Bowl_697b561f", + "position": { + "x": -3.11107755, + "y": 0.714565456, + "z": -0.652889132 + }, + "rotation": { + "x": 0.0, + "y": 225.000046, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 916629095, + "scene_num": 19 + }, + "task_id": "trial_T20190907_235608_554084", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1P0XSCJ9XAV74_35BLDD71I9E2EPZIVW74AJQ1QBYVZH", + "high_descs": [ + "turn left and look down at the bin.", + "Take out the potato inside the bin.", + "Turn around and take a step forward and turn left. Take a couple steps and turn to the left facing the microwave.", + "Place the potato standing up inside the microwave. Take the potato back out.", + "Turn to the right and walk straight half way and turn right to go towards the fridge.", + "Open the fridge and put the potato on the very top shelf and shut the door." + ], + "task_desc": "To move a heated potato from the microwave to the fridge.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3WJEQKOXABJLR5BCCQ7GM2SCSMTA1F", + "high_descs": [ + "Turn left to face the trash bin.", + "Take the potato from the trash bin.", + "Turn around, then turn left, move forward, then turn left to go to the microwave.", + "Heat the potato in the microwave.", + "Turn right, move forward, turn right at the stove, then go straight to the fridge.", + "Put the potato on the top shelf of the fridge." + ], + "task_desc": "Put a heated potato in the fridge.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3RGU30DZTDPTON05ZI3RZTJYGLLJMH", + "high_descs": [ + "turn left to the trash bin", + "take the potato out of the trash bin", + "turn around, turn around", + "open the microwave, put the potato in, heat the potato, take the potato out", + "turn around, walk to the refrigerator", + "put the potato in the refrigerator" + ], + "task_desc": "cook the potato from trash bin in the microwave, put it in the refrigerator", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-4/trial_T20190907_014928_981512/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-4/trial_T20190907_014928_981512/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0d84020695808e726948d69d4effd21db74d7f9d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-4/trial_T20190907_014928_981512/initial_state.pddl @@ -0,0 +1,943 @@ + +(define (problem plan_trial_T20190907_014928_981512) +(: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_79_bar__plus_01_dot_12_bar__plus_01_dot_92 - object + Apple_bar__minus_03_dot_37_bar__plus_01_dot_63_bar__plus_02_dot_92 - object + Apple_bar__minus_03_dot_64_bar__plus_00_dot_18_bar__plus_02_dot_04 - object + Bowl_bar__minus_00_dot_17_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_02_dot_82 - 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_27 - object + ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + Cup_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + Cup_bar__minus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_29 - object + Cup_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__plus_02_dot_78 - object + DishSponge_bar__minus_02_dot_45_bar__plus_00_dot_10_bar__plus_00_dot_58 - object + Egg_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_27 - object + Egg_bar__minus_01_dot_55_bar__plus_00_dot_96_bar__plus_00_dot_22 - object + Egg_bar__minus_02_dot_14_bar__plus_01_dot_16_bar__plus_00_dot_57 - 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 + Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Fork_bar__minus_00_dot_83_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_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_27 - object + Ladle_bar__minus_00_dot_66_bar__plus_01_dot_09_bar__plus_02_dot_37 - object + Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 - 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_38_bar__plus_01_dot_10_bar__plus_03_dot_19 - object + Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 - object + Mug_bar__minus_03_dot_51_bar__plus_00_dot_91_bar__plus_02_dot_92 - object + Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + PepperShaker_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_02_dot_14 - object + PepperShaker_bar__minus_01_dot_31_bar__plus_00_dot_05_bar__plus_00_dot_32 - object + PepperShaker_bar__minus_02_dot_46_bar__plus_00_dot_90_bar__plus_00_dot_61 - object + Plate_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + Plate_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_61 - object + Plate_bar__minus_03_dot_57_bar__plus_01_dot_29_bar__plus_02_dot_99 - object + Potato_bar__minus_00_dot_94_bar__plus_01_dot_16_bar__plus_00_dot_48 - object + Pot_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_49 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + SaltShaker_bar__minus_02_dot_18_bar__plus_00_dot_09_bar__plus_00_dot_58 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_00_dot_42_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + Spatula_bar__minus_00_dot_54_bar__plus_01_dot_06_bar__plus_03_dot_27 - object + Spatula_bar__minus_01_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_43 - object + Spatula_bar__minus_02_dot_01_bar__plus_01_dot_14_bar__plus_00_dot_10 - object + Spoon_bar__minus_00_dot_83_bar__plus_01_dot_13_bar__plus_00_dot_39 - object + Spoon_bar__minus_01_dot_47_bar__plus_01_dot_15_bar__plus_00_dot_11 - object + 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Ladle_bar__minus_00_dot_66_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 Apple_bar__minus_00_dot_79_bar__plus_01_dot_12_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_54_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 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 Bread_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 SoapBottle_bar__minus_00_dot_42_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 PepperShaker_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bowl_bar__minus_00_dot_17_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 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) + (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_66_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 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_79_bar__plus_01_dot_13_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Knife_bar__minus_00_dot_79_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 SaltShaker_bar__minus_02_dot_18_bar__plus_00_dot_09_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle Spoon_bar__minus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle DishSponge_bar__minus_02_dot_45_bar__plus_00_dot_10_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle PepperShaker_bar__minus_01_dot_31_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) + (inReceptacle Pot_bar__minus_01_dot_20_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 Pan_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 Tomato_bar__minus_03_dot_78_bar__plus_01_dot_17_bar__plus_00_dot_66 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle PepperShaker_bar__minus_02_dot_46_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 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 Spatula_bar__minus_02_dot_01_bar__plus_01_dot_14_bar__plus_00_dot_10 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 Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Egg_bar__minus_02_dot_14_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 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 Potato_bar__minus_00_dot_94_bar__plus_01_dot_16_bar__plus_00_dot_48 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Fork_bar__minus_00_dot_83_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 Spoon_bar__minus_00_dot_83_bar__plus_01_dot_13_bar__plus_00_dot_39 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Plate_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Plate_bar__minus_01_dot_52_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 Apple_bar__minus_03_dot_37_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 Cup_bar__minus_03_dot_31_bar__plus_00_dot_91_bar__plus_02_dot_78 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_01_dot_60_bar__plus_02_dot_85 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_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_51_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 Mug_bar__minus_03_dot_51_bar__plus_00_dot_91_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_64_bar__plus_00_dot_18_bar__plus_02_dot_04 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Egg_bar__minus_01_dot_55_bar__plus_00_dot_96_bar__plus_00_dot_22 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + 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"rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_1473e57e", + "position": { + "x": -3.77883434, + "y": 1.16548562, + "z": 0.6620079 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -2.45075154, + "y": 0.0953223556, + "z": 0.579597354 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -1.47318685, + "y": 1.15497851, + "z": 0.108262688 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -0.7158577, + "y": 1.11990011, + "z": 0.4782827 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1611852685, + "scene_num": 4 + }, + "task_id": "trial_T20190907_014928_981512", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A002160837SWJFPIAI7L7_3B1NLC6UG2DPIO7HJSAGJKLDSQ2GPC", + "high_descs": [ + "Walk to the table ahead.", + "Grab the knife that's under the leftmost bread.", + "Turn right and walk towards the counter to the left of the sink.", + "Slice up the potato.", + "Put the knife down.", + "Grab one potato slice.", + "Turn left and face the microwave.", + "Heat the potato slice for 2 seconds in the microwave.", + "Turn left to reach the fridge.", + "Place the slice in the fridge." + ], + "task_desc": "Place the heated potato slice in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3HPZF4IVNPA6AQJD8TAG6KTAY3TCY8", + "high_descs": [ + "Go forward to the brown table.", + "Take the yellow handle knife under the loaf of bread on the left.", + "Turn right, go to the counter to the right of the sink.", + "Cut the potato on the counter into slices.", + "Put the knife on the counter.", + "Take a slice of potato from the counter.", + "Turn left towards the microwave.", + "Put the potato in the microwave, turn on the microwave, take the potato from the microwave.", + "Turn around, go to the refrigerator in the corner of the room to the left.", + "Put the potato on the shelf below the glass in the refrigerator." + ], + "task_desc": "Put a cooked slice of potato in the refrigerator.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3FY6THWKRYN9M_3M23Y66PO5OKYNY3ZW5O2YDZLSKS68", + "high_descs": [ + "Turn left, turn right, go to table", + "Grab yellow handled knife on table", + "Take right, go to edge of counter", + "Cut open potato on counter", + "Slice potato on counter", + "pick up slice of potato, set down knife on counter", + "Turn around, walk to the counter on right", + "Place potato slice in microwave, cook, remove from microwave", + "Go to left, go to wall, take left to fridge", + "Place potato slice in fridge" + ], + "task_desc": "Slice a potato, cook it, cool it in 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-PotatoSliced-None-Fridge-4/trial_T20190907_015045_754474/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-4/trial_T20190907_015045_754474/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..60ecf775388a027d4e4daffb875a687b7af58c86 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-4/trial_T20190907_015045_754474/initial_state.pddl @@ -0,0 +1,886 @@ + +(define (problem plan_trial_T20190907_015045_754474) +(: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_81_bar__plus_01_dot_19_bar__plus_00_dot_28 - object + Bowl_bar__minus_00_dot_50_bar__plus_01_dot_04_bar__plus_02_dot_22 - object + Bowl_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 - object + 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SaltShaker_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) + (inReceptacle Fork_bar__minus_03_dot_85_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 Apple_bar__minus_03_dot_81_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 Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_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_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 PepperShaker_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Potato_bar__minus_02_dot_64_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 Spoon_bar__minus_01_dot_89_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 ButterKnife_bar__minus_02_dot_39_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) + (inReceptacle Bowl_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) + (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 ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_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_00_dot_72_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) + (inReceptacle Spatula_bar__minus_00_dot_94_bar__plus_01_dot_14_bar__plus_00_dot_30 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 Cup_bar__minus_01_dot_52_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_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 DishSponge_bar__minus_01_dot_64_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 Cup_bar__minus_03_dot_27_bar__plus_00_dot_73_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_51_bar__plus_00_dot_99_bar__plus_03_dot_13 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) + (inReceptacleObject Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_27 Plate_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27) + (inReceptacle Potato_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_02_dot_01 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Tomato_bar__minus_03_dot_75_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) + (inReceptacle Potato_bar__minus_01_dot_47_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) + (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) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 loc_bar__minus_5_bar_11_bar_1_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation ButterKnife_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_00_dot_50_bar__plus_01_dot_04_bar__plus_02_dot_22 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation SaltShaker_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 Cup_bar__minus_03_dot_27_bar__plus_00_dot_73_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Lettuce_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_64 loc_bar__minus_4_bar_5_bar_2_bar_45) + (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) + (objectAtLocation Mug_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60) + (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) + (objectAtLocation SaltShaker_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Cup_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_38 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_03_dot_85_bar__plus_01_dot_13_bar__plus_00_dot_47 loc_bar__minus_13_bar_6_bar_2_bar_30) + (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) + (objectAtLocation Potato_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (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) + (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) + (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_66 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation 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) + (objectAtLocation Ladle_bar__minus_01_dot_92_bar__plus_01_dot_14_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_02_dot_64_bar__plus_01_dot_16_bar__plus_00_dot_66 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bread_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) + (objectAtLocation Lettuce_bar__minus_03_dot_51_bar__plus_00_dot_99_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_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_94_bar__plus_01_dot_14_bar__plus_00_dot_30 loc_bar__minus_4_bar_4_bar_2_bar_45) + (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) + (objectAtLocation Egg_bar__minus_03_dot_78_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation Cup_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 SaltShaker_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) + (objectAtLocation Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_27 loc_bar__minus_5_bar_12_bar_1_bar_45) + (objectAtLocation Bowl_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) + (objectAtLocation PepperShaker_bar__minus_02_dot_14_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_03_dot_81_bar__plus_01_dot_19_bar__plus_00_dot_28 loc_bar__minus_13_bar_6_bar_2_bar_30) + (objectAtLocation Tomato_bar__minus_03_dot_75_bar__plus_00_dot_15_bar__plus_02_dot_04 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_64_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_01_dot_89_bar__plus_01_dot_13_bar__plus_00_dot_57 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_91_bar__plus_01_dot_04_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o PotatoType) + (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-PotatoSliced-None-Fridge-4/trial_T20190907_015045_754474/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-4/trial_T20190907_015045_754474/traj_data.json new file mode 100644 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"x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_f6bdaee7", + "position": { + "x": -3.81496572, + "y": 1.19227993, + "z": 0.284664035 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_1473e57e", + "position": { + "x": -0.908643544, + "y": 1.087733, + "z": 3.04208541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -1.640668, + "y": 0.0488978028, + "z": 0.6084629 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -1.88567913, + "y": 1.12602937, + "z": 0.567671955 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -0.908643544, + "y": 1.04214752, + "z": 2.59353828 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 406411486, + "scene_num": 4 + }, + "task_id": "trial_T20190907_015045_754474", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_3E1QT0TDFSQI8NEVNZ88IA33IOMI84", + "high_descs": [ + "Go to the counter to the left of the stove top to the right.", + "Take the knife on the counter next to the bowl.", + "Stay at the counter.", + "Cut the potato near the stove top on the counter.", + "Turn around, go to the refrigerator.", + "Put the knife in the refrigerator on left of the glass cup.", + "Turn left, go to the counter on the left of the stove top.", + "Take a piece of potato from the counter.", + "Turn left, go to the sink, facing towards the microwave.", + "Put the potato in the microwave, turn on the microwave, take the potato from the microwave.", + "Turn around, go to the refrigerator. ", + "Put the slice of potato on the shelf above the glass cup." + ], + "task_desc": "Put a cooked slice of potato in the refrigerator. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2XSGALF8O9ISQ_3OUYGIZWRAFS7KWW5QLDYSYXL5SP0P", + "high_descs": [ + "Turn right and walk towards the fridge, next turn left and walk towards the stove", + "Pick up a knife off the counter on the left of the stove", + "bend down toward a potato on the counter", + "Slice the potato on the counter next to the stove", + "Turn right and walk to the fridge", + "Open the fridge, place the knife inside and close the fridge", + "Turn left and walk back to the counter next to the stove", + "Pick up a slice of potato", + "Turn left and walk toward the counter with the microwave on it and open the door", + "Put the potato inside the microwave, close the door and turn it on, the open to door and remove the potato", + "Turn left and walk toward the door, turn left again and walk toward the fridge", + "Open the fridge and put the potato in side and close the fridge" + ], + "task_desc": "Slice a potato, warm it up, put it in the fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AT3C00TKZK13L_3PW9OPU9PT1WM2G8ZBE1GK9EFZ1211", + "high_descs": [ + "Walk turn right and then left, walk forward towards the counter", + "Take the knife from the counter", + "Step back with the knife from the counter", + "Slice the potato on the counter", + "Take the knife and walk towards the fridge", + "Put the knife inside the fridge", + "Walk back towards the counter", + "Take a slice of the sliced potato", + "Walk with the slice towards the microwave", + "Set the slice inside the microwave", + "Take the cooked slice out of the microwave and walk towards the fridge", + "Open the fridge and put the slice inside the fridge" + ], + "task_desc": "Cook a slice of potato put it 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-PotatoSliced-None-Fridge-4/trial_T20190907_015427_877732/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-4/trial_T20190907_015427_877732/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c9269af48e2e53374f70c69dbb3d28cc5df8b978 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-PotatoSliced-None-Fridge-4/trial_T20190907_015427_877732/initial_state.pddl @@ -0,0 +1,866 @@ + +(define (problem plan_trial_T20190907_015427_877732) +(: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_64_bar__plus_01_dot_63_bar__plus_02_dot_85 - object + Bowl_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_92 - object + Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_27 - object + Bread_bar__minus_00_dot_83_bar__plus_01_dot_21_bar__plus_00_dot_57 - object + ButterKnife_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + ButterKnife_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_38 - object + Cup_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_66 - 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_02_dot_09_bar__plus_00_dot_10_bar__plus_00_dot_55 - object + DishSponge_bar__minus_03_dot_85_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + Egg_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_01_dot_92 - object + Egg_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_02_dot_82 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + Fork_bar__minus_00_dot_54_bar__plus_01_dot_05_bar__plus_02_dot_82 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_21 - object + Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_02_dot_37 - object + Knife_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_57 - object + Ladle_bar__minus_00_dot_54_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 + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 - object + Lettuce_bar__minus_00_dot_91_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_00_dot_38_bar__plus_01_dot_10_bar__plus_03_dot_19 - object + Mug_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_03_dot_74_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Potato_bar__minus_03_dot_44_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_48 - object + Pot_bar__minus_03_dot_37_bar__plus_01_dot_56_bar__plus_02_dot_92 - object + SaltShaker_bar__minus_01_dot_24_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_01_dot_57_bar__plus_01_dot_15_bar__plus_00_dot_10 - object + Spatula_bar__minus_01_dot_38_bar__plus_00_dot_95_bar__plus_00_dot_43 - object + Spatula_bar__minus_01_dot_47_bar__plus_00_dot_95_bar__plus_00_dot_29 - object + Spatula_bar__minus_02_dot_01_bar__plus_01_dot_14_bar__plus_00_dot_10 - object + Spoon_bar__minus_01_dot_89_bar__plus_01_dot_13_bar__plus_00_dot_19 - 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_29_bar__plus_01_dot_09_bar__plus_02_dot_14 - object + Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_03_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_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_11_bar_9_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 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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 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Apple_bar__minus_03_dot_64_bar__plus_01_dot_63_bar__plus_02_dot_85) + (heatable Cup_bar__minus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_57) + (heatable Egg_bar__minus_00_dot_91_bar__plus_01_dot_08_bar__plus_02_dot_82) + (heatable Bread_bar__minus_00_dot_83_bar__plus_01_dot_21_bar__plus_00_dot_57) + (heatable Egg_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_01_dot_92) + (heatable Cup_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_66) + (heatable Mug_bar__minus_02_dot_01_bar__plus_01_dot_12_bar__plus_00_dot_57) + (heatable Tomato_bar__minus_00_dot_91_bar__plus_01_dot_09_bar__plus_03_dot_04) + (heatable Tomato_bar__minus_00_dot_29_bar__plus_01_dot_09_bar__plus_02_dot_14) + (heatable Plate_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_02_dot_59) + (coolable Potato_bar__minus_03_dot_44_bar__plus_00_dot_94_bar__plus_02_dot_92) + (coolable Bowl_bar__minus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_92) + (coolable 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DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_54_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 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 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) + (inReceptacle Tomato_bar__minus_00_dot_91_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 Tomato_bar__minus_00_dot_29_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 Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Fork_bar__minus_00_dot_29_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 Ladle_bar__minus_00_dot_54_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 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 Bowl_bar__minus_00_dot_91_bar__plus_01_dot_05_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle 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 DishSponge_bar__minus_02_dot_09_bar__plus_00_dot_10_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle Cup_bar__minus_01_dot_12_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 SaltShaker_bar__minus_01_dot_24_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 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 DishSponge_bar__minus_03_dot_85_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 PepperShaker_bar__minus_03_dot_74_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spoon_bar__minus_01_dot_89_bar__plus_01_dot_13_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spatula_bar__minus_02_dot_01_bar__plus_01_dot_14_bar__plus_00_dot_10 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Mug_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 ButterKnife_bar__minus_02_dot_39_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) + (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 Bread_bar__minus_00_dot_83_bar__plus_01_dot_21_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Knife_bar__minus_00_dot_72_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 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 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_64_bar__plus_01_dot_63_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_44_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 Pot_bar__minus_03_dot_37_bar__plus_01_dot_56_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + 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CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 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"Apple_f6bdaee7", + "position": { + "x": -3.63921952, + "y": 1.62988019, + "z": 2.84919667 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_1473e57e", + "position": { + "x": -0.908643544, + "y": 1.087733, + "z": 3.04208541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -3.851097, + "y": 1.12446439, + "z": 0.284664035 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -1.88567913, + "y": 1.12602937, + "z": 0.190328062 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -2.01135373, + "y": 1.11990023, + "z": 0.567672 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 641672318, + "scene_num": 4 + }, + "task_id": "trial_T20190907_015427_877732", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ALDWVFR4I0V2D_3GDTJDAPVXS4464M8E60A3AKZXQM88", + "high_descs": [ + "Turn right away from the fridge and then turn right again and walk towards the wooden table", + "Grab the metal butter knife from the table", + "Turn left and left again and walk towards the fridge", + "Open the fridge door and slice the potato on the top shelf", + "Close the fridge door and open it again", + "Place the knife inside the fridge on the shelf below the egg", + "Close and reopen the fridge door", + "Grab a slice of potato and close the fridge again", + "Turn left and walk towards the countertop and then towards the microwave at the end of the counter", + "Open the microwave door and place the potato slice inside. Turn on the microwave and cook the potato slice. Retrieve the potato slice from the microwave", + "Turn left and walk towards the door, and then turn left again and walk towards the fridge", + "Open both the fridge and freezer drawer and place the slice of cooked potato by the potato in the fridge. Close the fridge door" + ], + "task_desc": "To slice a potato inside of the fridge, take a slice and cook it, before returning it to the fridge", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJNQ2PBD07FKE_3F0BG9B9MS40Y9OHHC25QY1WXPOY7H", + "high_descs": [ + "turn around and face the brown table.", + "pick up the knife off of the table.", + "turn around and go to the refrigerator.", + "open the door of refrigerator and close it. ", + "do a full circle, open the refrigerator door again.", + "put the knife in the refrigerator. ", + "turn to right and left and get back into refrigerator.", + "grab a slice of potato out of refrigerator.", + "turn to the left, and left again until microwave on your right,", + "put potato slice in microwave and then remove potato slice,", + "turn left, go forward and left again to refrigerator.", + "open refrigerator and put potato slice in it. " + ], + "task_desc": "how to reheat potato slice.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3Z3ZLGNNSLB9OOW8OQIL0VMEUIS3QU", + "high_descs": [ + "Turn around and walk across the room to face the table.", + "Pick up the knife on the table.", + "Turn around and walk to the fridge.", + "Cut the potato in the fridge and shut the door.", + "Back up from the fridge a small amount.", + "Put the knife on a shelf in the fridge and shut the door.", + "Back up from the fridge a small amount.", + "Remove a slice of potato from the fridge.", + "Turn to the right, cross the room, then turn left and walk to approach the microwave.", + "Heat the potato slice in the microwave.", + "Turn left, walk across the room, then turn left and walk to face the fridge.", + "Place the potato slice in the fridge." + ], + "task_desc": "Cut potato, heat slice of potato, store in fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_388U7OUMFAIDJXCBIIP23NYCMBVR0A", + "high_descs": [ + "Turn around and head to the brown table across the room", + "Pick up the butter knife that is next to the fork", + "Turn around and cross the room to the refrigerator", + "Open the refrigerator", + "Slice the potato that is on the middle shelf and Close the refrigerator door", + "Open the refrigerator and place the knife on the bottom shelf in the refrigerator then close the door", + "Open the refrigerator and pick up a slice of the potato then close the door", + "Turn around and head to the microwave on the right side of the room", + "Open the microwave and place the potato inside and close the door then turn on the microwave. ", + "Open the microwave and pick up the potato slice then close the microwave", + "Turn around and head to the refrigerator on the left side of the room", + "Open the refrigerator and place the potato on the middle shelf, then close the door" + ], + "task_desc": "Place a cooked potato in a 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-TomatoSliced-None-DiningTable-17/trial_T20190908_130549_992332/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-DiningTable-17/trial_T20190908_130549_992332/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3a7a67c3366e3a56b2850d3d839a1d1afe7295ae --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-DiningTable-17/trial_T20190908_130549_992332/initial_state.pddl @@ -0,0 +1,1324 @@ + +(define (problem plan_trial_T20190908_130549_992332) +(: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_81_bar__plus_00_dot_97_bar__minus_00_dot_59 - object + Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + Bowl_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + Bread_bar__plus_01_dot_37_bar__plus_00_dot_97_bar__plus_00_dot_14 - object + Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_01_dot_09 - object + Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64 - object + ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_48 - object + CellPhone_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + CellPhone_bar__minus_01_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_17 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Cup_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + DishSponge_bar__plus_01_dot_22_bar__plus_00_dot_12_bar__plus_01_dot_16 - object + Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26 - object + Egg_bar__minus_00_dot_14_bar__plus_00_dot_79_bar__minus_00_dot_69 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_58 - object + Fork_bar__minus_00_dot_97_bar__plus_00_dot_91_bar__minus_00_dot_51 - object + Glassbottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_48 - object + Glassbottle_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 - object + Knife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__plus_02_dot_48 - object + Knife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__plus_02_dot_69 - object + Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_71 - object + Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_43 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_37 - object + Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 - object + Mug_bar__minus_01_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_90 - object + Pan_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 - object + PepperShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_00_dot_77 - object + PepperShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + PepperShaker_bar__minus_01_dot_36_bar__plus_02_dot_15_bar__plus_01_dot_04 - object + Plate_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51 - object + Plate_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_00_dot_78 - object + Potato_bar__minus_00_dot_02_bar__plus_00_dot_80_bar__minus_00_dot_69 - object + Potato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_00_dot_78 - object + Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + SaltShaker_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_00_dot_53 - object + SaltShaker_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_37 - object + SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_90 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15 - object + Spatula_bar__plus_00_dot_04_bar__plus_00_dot_77_bar__minus_00_dot_61 - object + Spatula_bar__plus_01_dot_37_bar__plus_00_dot_93_bar__minus_00_dot_14 - object + Spatula_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Spoon_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_58 - object + Spoon_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + SprayBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_00_dot_54 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_57 - object + Tomato_bar__minus_01_dot_32_bar__plus_01_dot_34_bar__plus_00_dot_67 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_99 - object + WineBottle_bar__minus_01_dot_13_bar__plus_00_dot_34_bar__plus_01_dot_30 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle + Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle + CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle + CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle + CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle + DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle + Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle + GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle + Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar_30 - location + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_0 - location + loc_bar_2_bar_10_bar_1_bar_60 - location + loc_bar_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar__minus_1_bar_3_bar_3_bar_45 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_2_bar_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 CabinetType) + (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 CounterTopType) + (receptacleType CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 CoffeeMachineType) + (receptacleType Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType) + (receptacleType Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 CabinetType) + (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType) + (receptacleType DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 CabinetType) + (objectType Spatula_bar__plus_01_dot_37_bar__plus_00_dot_93_bar__minus_00_dot_14 SpatulaType) + (objectType Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26 EggType) + (objectType Cup_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_14 CupType) + (objectType Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_01_dot_09 BreadType) + (objectType Knife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__plus_02_dot_69 KnifeType) + (objectType Spatula_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 SpatulaType) + (objectType SoapBottle_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_43 SoapBottleType) + (objectType SaltShaker_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_00_dot_53 SaltShakerType) + (objectType Fork_bar__minus_00_dot_97_bar__plus_00_dot_91_bar__minus_00_dot_51 ForkType) + (objectType Potato_bar__minus_00_dot_02_bar__plus_00_dot_80_bar__minus_00_dot_69 PotatoType) + (objectType Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 PotType) + (objectType 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Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 WindowType) + (objectType Glassbottle_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 GlassbottleType) + (objectType CellPhone_bar__minus_01_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_17 CellPhoneType) + (objectType SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15 SoapBottleType) + (objectType Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 ChairType) + (objectType Plate_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_00_dot_78 PlateType) + (objectType CellPhone_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_09 CellPhoneType) + (objectType Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64 BreadType) + (objectType Bowl_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_27 BowlType) + (objectType Knife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__plus_02_dot_48 KnifeType) + (objectType 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(canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType BowlType) + (canContain CabinetType KettleType) + (canContain CabinetType PotType) + (canContain CabinetType WineBottleType) + (canContain CabinetType MugType) + (canContain CabinetType GlassbottleType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType CupType) + (canContain CabinetType PlateType) + (canContain CabinetType PepperShakerType) + (canContain CabinetType PanType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType BowlType) + (canContain CabinetType KettleType) + (canContain CabinetType PotType) + (canContain CabinetType WineBottleType) + (canContain CabinetType MugType) + (canContain CabinetType GlassbottleType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType CupType) + (canContain 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Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle 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WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Pan_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Potato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacleObject Spoon_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42 Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_42) + (inReceptacle Spatula_bar__plus_00_dot_04_bar__plus_00_dot_77_bar__minus_00_dot_61 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_02_bar__plus_00_dot_80_bar__minus_00_dot_69 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_57 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_14_bar__plus_00_dot_79_bar__minus_00_dot_69 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45) + (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Spoon_bar__plus_01_dot_03_bar__plus_00_dot_89_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_19_bar__plus_00_dot_39_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_36_bar__plus_02_dot_15_bar__plus_01_dot_04 loc_bar__minus_1_bar_5_bar_3_bar__minus_30) + (objectAtLocation SaltShaker_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_14_bar__plus_00_dot_79_bar__minus_00_dot_69 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation Knife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Spatula_bar__plus_01_dot_37_bar__plus_00_dot_93_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Plate_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_00_dot_78 loc_bar__minus_1_bar_3_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_57 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation Fork_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Glassbottle_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_25_bar__plus_00_dot_11_bar__minus_00_dot_53 loc_bar__minus_1_bar_2_bar_2_bar_60) + (objectAtLocation Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Spatula_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_97_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation WineBottle_bar__minus_01_dot_13_bar__plus_00_dot_34_bar__plus_01_dot_30 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45) + (objectAtLocation Bread_bar__plus_01_dot_37_bar__plus_00_dot_97_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation Glassbottle_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Tomato_bar__minus_01_dot_32_bar__plus_01_dot_34_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (objectAtLocation Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0) + (objectAtLocation WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Spatula_bar__plus_00_dot_04_bar__plus_00_dot_77_bar__minus_00_dot_61 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_00_dot_81_bar__plus_00_dot_97_bar__minus_00_dot_59 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30) + (objectAtLocation Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_01_dot_12_bar__plus_00_dot_91_bar__plus_02_dot_69 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_90 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_22_bar__plus_00_dot_11_bar__plus_00_dot_77 loc_bar_0_bar_2_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_02_bar__plus_00_dot_80_bar__minus_00_dot_69 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_22_bar__plus_00_dot_12_bar__plus_01_dot_16 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation Pan_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_00_dot_54 loc_bar__minus_1_bar_2_bar_3_bar__minus_30) + (objectAtLocation Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 loc_bar_2_bar_0_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o TomatoType) + (receptacleType ?r DiningTableType) + (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-TomatoSliced-None-DiningTable-17/trial_T20190908_130549_992332/traj_data.json 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", + "Pick up the knife from the table that is between the other two knives. ", + "Turn right and go to the sink. ", + "Slice the tomato that is in the sink. ", + "Place the knife into the sink. ", + "Pick up a tomato slice from the sink. ", + "Turn right and go to the microwave. ", + "Put the tomato into the microwave, run it, and then remove the tomato. ", + "Turn right and go to the white table that is on the left. ", + "Put the tomato on the table in between the bowls. " + ], + "task_desc": "Slice a tomato, microwave it, and bring it to a table. ", + "votes": [ + 0, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3VHHR074H68OJZ3GU52WXCJ2J3TL75", + "high_descs": [ + "Go to the square white table", + "Pick up a knife", + "Go to the sink", + "Cut the tomato", + "Put the knife in the sink", + "Pick up a tomato slice", + "Go to the microwave", + "Heat the tomato", + "Go to the rectangle white table", + "Put the tomato on the table" + ], + "task_desc": "Put a heated slice of tomato on the rectangular table", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-DiningTable-17/trial_T20190908_130644_960332/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-DiningTable-17/trial_T20190908_130644_960332/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..703a9b29a24040fcc70ebaa962b9d3629e1eaee8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-DiningTable-17/trial_T20190908_130644_960332/initial_state.pddl @@ -0,0 +1,1342 @@ + +(define (problem plan_trial_T20190908_130644_960332) +(: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 + 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Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + Glassbottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_78 - object + Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_00_dot_88 - object + Glassbottle_bar__minus_01_dot_29_bar__plus_02_dot_15_bar__plus_01_dot_26 - object + Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + Kettle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + Knife_bar__plus_00_dot_05_bar__plus_00_dot_93_bar__minus_00_dot_37 - object + Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_83 - object + Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_09 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_00_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_69 - object + Mug_bar__minus_00_dot_08_bar__plus_00_dot_75_bar__minus_00_dot_53 - object + Mug_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_05 - object + Pan_bar__minus_01_dot_32_bar__plus_01_dot_29_bar__plus_00_dot_78 - object + PepperShaker_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_58 - object + PepperShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_00_dot_44 - object + Plate_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01 - object + Plate_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + Potato_bar__plus_01_dot_03_bar__plus_00_dot_93_bar__plus_02_dot_37 - object + Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + SaltShaker_bar__plus_00_dot_73_bar__plus_02_dot_15_bar__minus_00_dot_72 - object + SaltShaker_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__plus_00_dot_29 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_39 - object + SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_15 - object + Spatula_bar__plus_01_dot_37_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Spoon_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_65 - object + SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 - object + SprayBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_82 - object + SprayBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_00_dot_65 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__plus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_42 - object + Tomato_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__plus_01_dot_30 - object + Tomato_bar__minus_01_dot_38_bar__plus_01_dot_47_bar__plus_00_dot_99 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_47 - object + WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_01_dot_30 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + 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receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle + CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle + CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle + CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle + DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle + 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StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar_30 - location + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_0 - location + loc_bar_2_bar_10_bar_1_bar_60 - location + loc_bar_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_0_bar_0_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar_2_bar_8_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 CabinetType) + (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 CabinetType) + 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Mug_bar__minus_00_dot_08_bar__plus_00_dot_75_bar__minus_00_dot_53) + (coolable Tomato_bar__minus_01_dot_38_bar__plus_01_dot_47_bar__plus_00_dot_99) + (coolable Tomato_bar__plus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_42) + (coolable Plate_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71) + (coolable Potato_bar__plus_01_dot_03_bar__plus_00_dot_93_bar__plus_02_dot_37) + (coolable Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09) + (coolable Egg_bar__minus_01_dot_33_bar__plus_01_dot_05_bar__minus_00_dot_06) + (coolable Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_09) + (coolable Tomato_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__plus_01_dot_30) + (coolable Cup_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_43) + (coolable Egg_bar__plus_00_dot_04_bar__plus_00_dot_79_bar__minus_00_dot_61) + (coolable Plate_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01) + (coolable Mug_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_05) + (coolable Pan_bar__minus_01_dot_32_bar__plus_01_dot_29_bar__plus_00_dot_78) + (coolable Bowl_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_37) + (coolable Cup_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_58) + (coolable Bowl_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__plus_00_dot_22) + (coolable Egg_bar__minus_01_dot_15_bar__plus_01_dot_46_bar__plus_00_dot_78) + (coolable Bowl_bar__minus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_53) + (coolable Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_27) + + (isCool Tomato_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__plus_01_dot_30) + (isCool Tomato_bar__minus_01_dot_38_bar__plus_01_dot_47_bar__plus_00_dot_99) + + + + (sliceable Apple_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_43) + (sliceable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68) + (sliceable Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46) + (sliceable Tomato_bar__minus_01_dot_38_bar__plus_01_dot_47_bar__plus_00_dot_99) + (sliceable Tomato_bar__plus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_42) + (sliceable Potato_bar__plus_01_dot_03_bar__plus_00_dot_93_bar__plus_02_dot_37) + (sliceable Egg_bar__minus_01_dot_33_bar__plus_01_dot_05_bar__minus_00_dot_06) + (sliceable Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_09) + (sliceable Tomato_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__plus_01_dot_30) + (sliceable Egg_bar__plus_00_dot_04_bar__plus_00_dot_79_bar__minus_00_dot_61) + (sliceable Egg_bar__minus_01_dot_15_bar__plus_01_dot_46_bar__plus_00_dot_78) + (sliceable Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_27) + + (inReceptacle SoapBottle_bar__plus_01_dot_36_bar__plus_01_dot_66_bar__minus_00_dot_39 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64) + (inReceptacle SaltShaker_bar__plus_00_dot_73_bar__plus_02_dot_15_bar__minus_00_dot_72 Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65) + (inReceptacle PepperShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_00_dot_44 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33) + (inReceptacle Bowl_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__plus_00_dot_22 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38) + (inReceptacle Plate_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18) + (inReceptacle Bowl_bar__minus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_53 Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35) + (inReceptacle Glassbottle_bar__minus_01_dot_29_bar__plus_02_dot_15_bar__plus_01_dot_26 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38) + (inReceptacle SprayBottle_bar__minus_01_dot_33_bar__plus_02_dot_15_bar__plus_00_dot_65 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43) + (inReceptacle WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Cup_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Tomato_bar__plus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Plate_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spatula_bar__plus_01_dot_37_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Kettle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Bowl_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Cup_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle DishSponge_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Potato_bar__plus_01_dot_03_bar__plus_00_dot_93_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle PepperShaker_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SaltShaker_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__plus_00_dot_29 Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37) + (inReceptacle Apple_bar__minus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle ButterKnife_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_83 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle SprayBottle_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_82 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Fork_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle ButterKnife_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Lettuce_bar__minus_01_dot_38_bar__plus_00_dot_82_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle DishSponge_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Tomato_bar__minus_01_dot_26_bar__plus_00_dot_80_bar__plus_01_dot_30 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_01_dot_30 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Glassbottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Tomato_bar__minus_01_dot_38_bar__plus_01_dot_47_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Egg_bar__minus_01_dot_15_bar__plus_01_dot_46_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Pan_bar__minus_01_dot_32_bar__plus_01_dot_29_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle WineBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_47 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47) + (inReceptacle Egg_bar__minus_01_dot_33_bar__plus_01_dot_05_bar__minus_00_dot_06 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (inReceptacle Mug_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_05 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (inReceptacle Spoon_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_65 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_69 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Egg_bar__plus_00_dot_04_bar__plus_00_dot_79_bar__minus_00_dot_61 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_08_bar__plus_00_dot_75_bar__minus_00_dot_53 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45) + (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation PepperShaker_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__plus_00_dot_29 loc_bar_0_bar_3_bar_3_bar_45) + (objectAtLocation Egg_bar__plus_00_dot_04_bar__plus_00_dot_79_bar__minus_00_dot_61 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loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Tomato_bar__minus_01_dot_38_bar__plus_01_dot_47_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Kettle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_08_bar__plus_00_dot_75_bar__minus_00_dot_53 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Tomato_bar__plus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45) + 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Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0) + (objectAtLocation WineBottle_bar__plus_01_dot_25_bar__plus_00_dot_09_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (objectAtLocation Spatula_bar__plus_01_dot_37_bar__plus_00_dot_93_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__plus_00_dot_22 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30) + (objectAtLocation Cup_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_05_bar__plus_00_dot_93_bar__minus_00_dot_37 loc_bar_0_bar_0_bar_2_bar_60) + (objectAtLocation 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", + "Pick up the yellow handled knife that is on the counter. ", + "Turn around, go forward to the fridge on the left. ", + "Open the fridge, cut the tomato inside the fridge into slices. ", + "Turn around, go forward to the counter where the toaster is. ", + "Put the knife in the cabinet under the gray plate. ", + "Turn around, go to the fridge.", + "Take a slice of tomato out of the fridge. ", + "Turn to the left, go to the microwave ahead on the right.", + "Put the tomato inside the microwave and turn it on, remove the cooked tomato from the microwave.", + "Turn to the right, go forward towards the door, hang a right, go forward, turn around to face the white table. ", + "Put the tomato on the table to the right of the frontmost sponge. " + ], + "task_desc": "Put hot slice of tomato on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A30M9SZYJKFDS9_3HL8HNGX48S6XQHDNRXIGV5OHZ79FG", + "high_descs": [ + "turn around to the left go forward towards the counter", + "pick up the knife from the counter ", + "turn to the right open the refrigerator slice the tomato that is in there ", + "turn around to the right go forward", + "open the bottom cabinet that is on the other side of the kitchen ", + "put the knife inside the cabinet", + "turn around to the right towards the refrigerator", + "pick up a slice of a tomato", + "turn to the left go right ", + "open the microwave heat the slice up and get it back out from the microwave ", + "turn around to the right go right go forward towards the white table", + "put the slice of tomato on the white table" + ], + "task_desc": "put a heated slice tomato on top of the white table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3UWN2HHPU1W0QXQTULGM5VJNBBSSNL", + "high_descs": [ + "Go to the counter to the right of the sink", + "Pick up the knife from the counter", + "Go to the fridge", + "Cut the tomato in the fridge", + "Go to the toaster", + "Place the knife in the cabinet underneath the toaster", + "Go to the fridge", + "Take a tomato slice out", + "Go to the microwave", + "Heat the tomato slice", + "Go to the big white table", + "Put the tomato slice on the big white table" + ], + "task_desc": "Place a heated tomato slice on a table", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-DiningTable-17/trial_T20190908_131027_399924/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-DiningTable-17/trial_T20190908_131027_399924/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7e8ddbaa3169ad3477ac7648346041c68358a9ce --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-DiningTable-17/trial_T20190908_131027_399924/initial_state.pddl @@ -0,0 +1,1278 @@ + +(define (problem plan_trial_T20190908_131027_399924) +(: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 + 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Kettle_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_65 - object + Knife_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_02_dot_69 - object + Knife_bar__minus_00_dot_66_bar__plus_00_dot_93_bar__minus_00_dot_59 - object + Lettuce_bar__minus_01_dot_29_bar__plus_00_dot_82_bar__plus_02_dot_83 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_00_dot_53 - object + Mug_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_37 - object + Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05 - object + Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object + PepperShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_00_dot_37 - object + Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_01 - object + Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_19 - object + Plate_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Potato_bar__minus_01_dot_12_bar__plus_00_dot_96_bar__minus_00_dot_75 - object + Potato_bar__minus_01_dot_15_bar__plus_01_dot_33_bar__plus_00_dot_88 - object + Potato_bar__minus_01_dot_21_bar__plus_01_dot_68_bar__plus_00_dot_98 - object + Pot_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + SaltShaker_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_48 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_69 - object + Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_00_dot_14 - object + Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_37 - object + Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + SprayBottle_bar__plus_01_dot_41_bar__plus_00_dot_09_bar__plus_01_dot_47 - object + SprayBottle_bar__minus_01_dot_29_bar__plus_01_dot_66_bar__minus_00_dot_56 - object + SprayBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_48 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__minus_00_dot_92_bar__plus_00_dot_80_bar__plus_01_dot_90 - object + Tomato_bar__minus_01_dot_21_bar__plus_01_dot_47_bar__plus_00_dot_99 - object + Tomato_bar__minus_01_dot_38_bar__plus_01_dot_69_bar__plus_00_dot_78 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__plus_01_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_27 - object + WineBottle_bar__minus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_62 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle + Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle 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CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle + DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle + Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle + GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle + Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - 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loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType) + (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType) + (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 CabinetType) + (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType) + 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Potato_bar__minus_01_dot_15_bar__plus_01_dot_33_bar__plus_00_dot_88) + (sliceable Bread_bar__minus_01_dot_26_bar__plus_00_dot_81_bar__plus_00_dot_99) + (sliceable Tomato_bar__minus_01_dot_38_bar__plus_01_dot_69_bar__plus_00_dot_78) + (sliceable Tomato_bar__minus_01_dot_21_bar__plus_01_dot_47_bar__plus_00_dot_99) + (sliceable Potato_bar__minus_01_dot_12_bar__plus_00_dot_96_bar__minus_00_dot_75) + (sliceable Potato_bar__minus_01_dot_21_bar__plus_01_dot_68_bar__plus_00_dot_98) + (sliceable Tomato_bar__minus_00_dot_92_bar__plus_00_dot_80_bar__plus_01_dot_90) + (sliceable Lettuce_bar__minus_01_dot_29_bar__plus_00_dot_82_bar__plus_02_dot_83) + + (inReceptacleObject Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_37 Mug_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_37) + (inReceptacle Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_19 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38) + (inReceptacle WineBottle_bar__plus_01_dot_26_bar__plus_01_dot_66_bar__minus_00_dot_27 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64) + (inReceptacle SprayBottle_bar__minus_01_dot_29_bar__plus_01_dot_66_bar__minus_00_dot_56 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33) + (inReceptacle PepperShaker_bar__minus_01_dot_36_bar__plus_01_dot_65_bar__minus_00_dot_37 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33) + (inReceptacle SprayBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_48 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33) + (inReceptacle Glassbottle_bar__plus_01_dot_26_bar__plus_02_dot_16_bar__plus_00_dot_51 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43) + (inReceptacle Plate_bar__plus_01_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_01 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18) + (inReceptacle WineBottle_bar__minus_00_dot_13_bar__plus_00_dot_12_bar__minus_00_dot_62 Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35) + (inReceptacle Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Pot_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Kettle_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle CellPhone_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Mug_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle ButterKnife_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_69 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SoapBottle_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_69 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Knife_bar__plus_01_dot_45_bar__plus_00_dot_91_bar__plus_02_dot_69 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Apple_bar__plus_01_dot_12_bar__plus_00_dot_95_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SaltShaker_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle DishSponge_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_00_dot_02 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02) + (inReceptacle Knife_bar__minus_00_dot_66_bar__plus_00_dot_93_bar__minus_00_dot_59 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Potato_bar__minus_01_dot_12_bar__plus_00_dot_96_bar__minus_00_dot_75 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Kettle_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_37 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37) + (inReceptacle CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Cup_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Plate_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Tomato_bar__minus_00_dot_92_bar__plus_00_dot_80_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Fork_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Lettuce_bar__minus_01_dot_29_bar__plus_00_dot_82_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Potato_bar__minus_01_dot_15_bar__plus_01_dot_33_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Tomato_bar__minus_01_dot_38_bar__plus_01_dot_69_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Tomato_bar__minus_01_dot_21_bar__plus_01_dot_47_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Bread_bar__minus_01_dot_26_bar__plus_00_dot_81_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Potato_bar__minus_01_dot_21_bar__plus_01_dot_68_bar__plus_00_dot_98 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle SprayBottle_bar__plus_01_dot_41_bar__plus_00_dot_09_bar__plus_01_dot_47 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47) + (inReceptacle DishSponge_bar__plus_01_dot_19_bar__plus_00_dot_09_bar__plus_01_dot_47 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47) + (inReceptacle Mug_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (inReceptacle Egg_bar__minus_01_dot_26_bar__plus_01_dot_05_bar__minus_00_dot_01 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (inReceptacle Cup_bar__minus_01_dot_39_bar__plus_01_dot_01_bar__minus_00_dot_11 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (inReceptacle Kettle_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_65 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_00_dot_53 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45) + (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (objectAtLocation Spoon_bar__plus_01_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_37 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the right towards the white table", + "pick up a slice of the tomato", + "turn to the left go right towards the microwave ", + "put the slice of tomato inside the microwave heat it up get it back out ", + "turn to the right go right turn to the right towards the white table", + "put the slice of tomato on top of the white table" + ], + "task_desc": "put a heated slice of tomato on the white table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3W2LOLRXLE6NHC5DIJO1NTXNVHTKRF", + "high_descs": [ + "Go forward to the table, hang a left, go to the counter above the dishwasher.", + "Pick up the knife that is on the counter. ", + "Turn around, go to the white table on the other side of the fridge.", + "Cut the tomato that is on the table into slices.", + "Turn to the left, go forward to the fridge that is on the right.", + "Put the knife inside the fridge in front of the bread.", + "Turn to the right, go to tomato on the white table that is on the left.", + "Pick up a slice of tomato from the table. ", + "Turn to the left, go across the room to the microwave on the right.", + "Put the tomato in the microwave, turn it on to cook, remove the tomato once it is done cooking.", + "Turn to the right, go across the room, turn to the right, go forward, turn around and go to the white table. ", + "Put the slice of tomato on the table in front of the gray plate." + ], + "task_desc": "Put cooked tomato on a table. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3R2PKQ87NZZ5E12XD878OEO0XQZIM8", + "high_descs": [ + "Go to the right of the sink", + "Pick up the knife", + "Go to the right of the fridge", + "Cut the tomato", + "Go to the fridge", + "Put the knife in the fridge", + "Go to the cut tomato", + "Pick up a tomato slice", + "Go to the microwave", + "Heat the tomato slice", + "Go to the white table", + "Put the tomato slice down on the table" + ], + "task_desc": "Place a cooked tomato slice down on a table", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005143_132045/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005143_132045/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6f2849acd14ac011e71b5a980cde4dcf0dc17dc3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005143_132045/initial_state.pddl @@ -0,0 +1,976 @@ + +(define (problem plan_trial_T20190909_005143_132045) +(: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_13_bar__plus_00_dot_95_bar__plus_00_dot_05 - object + Apple_bar__minus_01_dot_19_bar__plus_00_dot_15_bar__plus_03_dot_76 - object + Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object + Bowl_bar__minus_03_dot_51_bar__plus_01_dot_45_bar__plus_03_dot_81 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_62_bar__plus_04_dot_10 - object + Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_46 - object + ButterKnife_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_36 - object + ButterKnife_bar__minus_01_dot_73_bar__plus_00_dot_79_bar__plus_03_dot_70 - object + ButterKnife_bar__minus_02_dot_02_bar__plus_00_dot_92_bar__plus_04_dot_02 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_03_dot_83 - object + DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_01_dot_44 - object + Egg_bar__minus_00_dot_79_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_82_bar__plus_00_dot_92_bar__plus_04_dot_19 - object + Kettle_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + Kettle_bar__minus_03_dot_15_bar__plus_00_dot_07_bar__plus_02_dot_92 - object + Knife_bar__minus_01_dot_39_bar__plus_00_dot_92_bar__plus_00_dot_46 - object + Lettuce_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__plus_00_dot_09 - object + LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 - object + Mug_bar__minus_00_dot_21_bar__plus_01_dot_27_bar__plus_04_dot_06 - object + Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 - object + Mug_bar__minus_03_dot_49_bar__plus_01_dot_99_bar__plus_02_dot_42 - object + Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62 - object + PepperShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_03_dot_36 - object + PepperShaker_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_01_dot_19 - object + PepperShaker_bar__minus_03_dot_56_bar__plus_01_dot_99_bar__plus_02_dot_54 - object + Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 - object + Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_19 - object + Potato_bar__minus_00_dot_44_bar__plus_01_dot_02_bar__plus_04_dot_05 - object + Potato_bar__minus_00_dot_67_bar__plus_01_dot_02_bar__plus_04_dot_05 - object + Potato_bar__minus_03_dot_46_bar__plus_00_dot_95_bar__plus_01_dot_52 - 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_00_dot_99_bar__plus_00_dot_89_bar__minus_00_dot_05 - object + SaltShaker_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__plus_00_dot_36 - object + SaltShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_36 - object + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 - object + SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__minus_00_dot_05 - object + SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__plus_03_dot_59 - object + Spatula_bar__minus_03_dot_16_bar__plus_00_dot_76_bar__plus_01_dot_20 - object + Spoon_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_05 - object + Spoon_bar__minus_01_dot_92_bar__plus_00_dot_79_bar__plus_03_dot_74 - 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_32_bar__plus_00_dot_79_bar__plus_03_dot_82 - object + Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 - object + WineBottle_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_52 - object + WineBottle_bar__minus_03_dot_65_bar__plus_00_dot_92_bar__plus_01_dot_52 - 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_4_bar_6_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 StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 StoveKnobType) + (objectType PepperShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_03_dot_36 PepperShakerType) + (objectType 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Lettuce_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__plus_00_dot_09) + + (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 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 ButterKnife_bar__minus_02_dot_02_bar__plus_00_dot_92_bar__plus_04_dot_02 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Cup_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_03_dot_83 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 Fork_bar__minus_01_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_19 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Cabinet_bar__minus_02_dot_99_bar__plus_00_dot_39_bar__plus_02_dot_68) + (inReceptacle PepperShaker_bar__minus_03_dot_56_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 Mug_bar__minus_03_dot_49_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 Bowl_bar__minus_03_dot_51_bar__plus_01_dot_45_bar__plus_03_dot_81 Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_03_dot_96) + (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) + (inReceptacleObject Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (inReceptacle Potato_bar__minus_00_dot_44_bar__plus_01_dot_02_bar__plus_04_dot_05 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_02_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_00_dot_79_bar__plus_03_dot_82 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_01_dot_62_bar__plus_04_dot_10 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Mug_bar__minus_00_dot_21_bar__plus_01_dot_27_bar__plus_04_dot_06 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Egg_bar__minus_00_dot_79_bar__plus_01_dot_02_bar__plus_04_dot_11 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 Spoon_bar__minus_01_dot_92_bar__plus_00_dot_79_bar__plus_03_dot_74 Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_01_dot_73_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) + (inReceptacle Apple_bar__minus_01_dot_19_bar__plus_00_dot_15_bar__plus_03_dot_76 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) + (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_03_dot_49_bar__plus_01_dot_99_bar__plus_02_dot_42 loc_bar__minus_11_bar_11_bar_3_bar__minus_30) + (objectAtLocation Spoon_bar__minus_01_dot_92_bar__plus_00_dot_79_bar__plus_03_dot_74 loc_bar__minus_6_bar_12_bar_0_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_73_bar__plus_00_dot_79_bar__plus_03_dot_70 loc_bar__minus_6_bar_12_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_03_dot_36 loc_bar__minus_9_bar_12_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__plus_00_dot_36 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_01_dot_19_bar__plus_00_dot_15_bar__plus_03_dot_76 loc_bar__minus_5_bar_13_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation WineBottle_bar__minus_03_dot_27_bar__plus_00_dot_92_bar__plus_01_dot_52 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation Kettle_bar__minus_03_dot_15_bar__plus_00_dot_07_bar__plus_02_dot_92 loc_bar__minus_11_bar_11_bar_3_bar_60) + (objectAtLocation Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 loc_bar__minus_10_bar_8_bar_3_bar_30) + (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) + (objectAtLocation Potato_bar__minus_00_dot_44_bar__plus_01_dot_02_bar__plus_04_dot_05 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_79_bar__plus_01_dot_62_bar__plus_04_dot_10 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_21_bar__plus_01_dot_27_bar__plus_04_dot_06 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation 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+ (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) + (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) + (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) + (objectAtLocation Fork_bar__minus_01_dot_82_bar__plus_00_dot_92_bar__plus_04_dot_19 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_46 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_00_dot_67_bar__plus_01_dot_02_bar__plus_04_dot_05 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_19 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 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Spatula_bar__minus_03_dot_16_bar__plus_00_dot_76_bar__plus_01_dot_20 loc_bar__minus_9_bar_6_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_76_bar__plus_00_dot_08_bar__plus_03_dot_59 loc_bar__minus_9_bar_10_bar_0_bar_60) + (objectAtLocation Lettuce_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__plus_00_dot_09 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_01_dot_13_bar__plus_00_dot_95_bar__plus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_36 loc_bar__minus_11_bar_6_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_03_dot_56_bar__plus_01_dot_99_bar__plus_02_dot_54 loc_bar__minus_11_bar_11_bar_3_bar__minus_30) + (objectAtLocation ButterKnife_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_36 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}, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3646898375, + "scene_num": 15 + }, + "task_id": "trial_T20190909_005143_132045", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F51C49T9A34D_3JAOYWH7VLVSXIR9920GB8A8EZM9LM", + "high_descs": [ + "go forward a few steps and turn to the right and go to the sink", + "pick up the knife from the sink", + "turn to the right twice and take a few steps and turn to the left and go to the door and turn to the left facing the refrigerator", + "open the refrigerator door and slice with the knife the tomato on the shelf and close the door", + "turn to the left and go to the front of the sink and turn to the right facing the sink", + "put the knife in the sink", + "turn to the right and go to the door and turn to the left facing the refrigerator", + "open the refrigerator door and pick up a slice of tomato from the shelf and close the refrigerator door", + "turn to the left twice and take a few steps and turn to the right and go to the microwave", + "put the tomato slice in the microwave and cook and take out the cooked tomato slice", + "turn to the right twice and go to the front of the refrigerator and turn to the left and go to the refrigerator", + "open the refrigerator door and put the slice of tomato on the shelf and close the refrigerator door" + ], + "task_desc": "Place a cooked tomato slice in the refrigerator", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3VW6495TLMRRYI6G0THM4X5VWN6YYN", + "high_descs": [ + "Turn right and go to the sink.", + "Pick up the knife from the sink.", + "Turn right and head to the fridge.", + "Cut the tomato in the fridge.", + "Turn left and go back to the sink.", + "Put the knife in the sink.", + "Turn right and go back to the fridge.", + "Pick up a slice of tomato from the fridge.", + "Turn left and head to the microwave above the stove.", + "Cook the slice of tomato in the microwave and pick the slice of tomato back up.", + "Turn around and go back to the fridge.", + "Put the slice of tomato in the fridge on the second shelf." + ], + "task_desc": "Put a cooked slice of tomato in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ANBWJZYU2A68T_3WZ36BJEV67Z4OEBGVG3O5FFWCBBT1", + "high_descs": [ + "Turn right and go to the sink", + "Pick up the butter knife from the sink", + "Go to the fridge", + "Open the fridge, cut the tomato with the knife, and close the fridge", + "Go back to the sink", + "Put the knife down in the sink", + "Go back to the fridge", + "Open the fridge, pick a tomato slice up from the fridge, and close the fridge", + "Turn to your left and go to the stove", + "Put the tomato slice in the microwave above the stove, warm it for 7 seconds, take it out, and close the microwave", + "Take the tomato slice and go back to the fridge", + "Open the fridge, put the slice on the tray with the tomato, and close the fridge" + ], + "task_desc": "Put a heated slice of tomato 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-TomatoSliced-None-Fridge-15/trial_T20190909_005346_415789/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005346_415789/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..db55d1c5f4aba6b535aac16ae13a9d6a8f5c733c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005346_415789/initial_state.pddl @@ -0,0 +1,981 @@ + +(define (problem plan_trial_T20190909_005346_415789) +(: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_11 - 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_93 - object + Bowl_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__plus_03_dot_84 - object + Bowl_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_44 - object + Bread_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_10 - object + Bread_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_01_dot_44 - object + ButterKnife_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_46 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_00_dot_09_bar__plus_00_dot_99_bar__plus_04_dot_18 - object + Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_99 - object + Cup_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_01_dot_27 - object + DishSponge_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_03_dot_66 - object + Egg_bar__minus_01_dot_73_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_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_46 - object + Kettle_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 - object + Knife_bar__minus_03_dot_18_bar__plus_00_dot_94_bar__plus_03_dot_01 - object + Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36 - 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__minus_00_dot_05 - object + Mug_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_11 - object + Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62 - object + PepperShaker_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + PepperShaker_bar__minus_03_dot_10_bar__plus_00_dot_74_bar__plus_03_dot_36 - object + PepperShaker_bar__minus_03_dot_51_bar__plus_01_dot_45_bar__plus_03_dot_65 - object + Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_84 - object + Potato_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_05 - object + Potato_bar__minus_01_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_05 - object + Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 - object + SaltShaker_bar__minus_01_dot_39_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + SaltShaker_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + SaltShaker_bar__minus_03_dot_53_bar__plus_01_dot_99_bar__plus_02_dot_36 - object + Sink_bar__minus_01_dot_80_bar__plus_00_dot_92_bar__plus_03_dot_66 - object + SoapBottle_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_15 - object + SoapBottle_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_26 - object + Spatula_bar__minus_01_dot_50_bar__plus_00_dot_93_bar__plus_04_dot_15 - object + Spoon_bar__minus_01_dot_43_bar__plus_00_dot_92_bar__plus_03_dot_89 - object + Spoon_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_36 - object + Spoon_bar__minus_03_dot_04_bar__plus_00_dot_75_bar__plus_02_dot_86 - 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_32_bar__plus_01_dot_61_bar__plus_04_dot_03 - object + Tomato_bar__minus_01_dot_79_bar__plus_00_dot_86_bar__plus_03_dot_63 - object + Tomato_bar__minus_03_dot_37_bar__plus_00_dot_98_bar__plus_01_dot_27 - object + Tomato_bar__minus_03_dot_46_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_03_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_81 - 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_7_bar_9_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 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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_7_bar_9_bar_0_bar_30) + + (cleanable Potato_bar__minus_01_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_05) + (cleanable Kettle_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37) + (cleanable ButterKnife_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_46) + (cleanable Tomato_bar__minus_03_dot_37_bar__plus_00_dot_98_bar__plus_01_dot_27) + (cleanable Cup_bar__minus_00_dot_09_bar__plus_00_dot_99_bar__plus_04_dot_18) + (cleanable Spatula_bar__minus_01_dot_50_bar__plus_00_dot_93_bar__plus_04_dot_15) + (cleanable Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82) + (cleanable Bowl_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__plus_03_dot_84) + (cleanable Tomato_bar__minus_01_dot_79_bar__plus_00_dot_86_bar__plus_03_dot_63) + (cleanable Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_84) + (cleanable DishSponge_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_03_dot_66) + (cleanable Bowl_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_44) + (cleanable Potato_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_05) + (cleanable Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62) + (cleanable Tomato_bar__minus_03_dot_46_bar__plus_00_dot_98_bar__plus_01_dot_11) + (cleanable Cup_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_01_dot_27) + (cleanable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_03) + (cleanable Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_99) + (cleanable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_81) + (cleanable Knife_bar__minus_03_dot_18_bar__plus_00_dot_94_bar__plus_03_dot_01) + (cleanable Spoon_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_36) + (cleanable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (cleanable Fork_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_46) + (cleanable Bowl_bar__minus_00_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_93) + (cleanable Spoon_bar__minus_01_dot_43_bar__plus_00_dot_92_bar__plus_03_dot_89) + (cleanable Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36) + (cleanable Spoon_bar__minus_03_dot_04_bar__plus_00_dot_75_bar__plus_02_dot_86) + (cleanable Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__minus_00_dot_05) + (cleanable Mug_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_11) + (cleanable Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_11) + + (heatable Potato_bar__minus_01_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_05) + (heatable Bread_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_10) + (heatable Bread_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_01_dot_44) + (heatable Tomato_bar__minus_03_dot_37_bar__plus_00_dot_98_bar__plus_01_dot_27) + (heatable Cup_bar__minus_00_dot_09_bar__plus_00_dot_99_bar__plus_04_dot_18) + (heatable Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82) + (heatable Tomato_bar__minus_01_dot_79_bar__plus_00_dot_86_bar__plus_03_dot_63) + (heatable Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_84) + (heatable Potato_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_05) + (heatable Tomato_bar__minus_03_dot_46_bar__plus_00_dot_98_bar__plus_01_dot_11) + (heatable Cup_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_01_dot_27) + (heatable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_03) + (heatable Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_99) + (heatable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_81) + (heatable Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__minus_00_dot_05) + (heatable Mug_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_11) + (heatable Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_11) + (coolable Potato_bar__minus_01_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_05) + (coolable Bread_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_10) + (coolable Bread_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_01_dot_44) + (coolable Tomato_bar__minus_03_dot_37_bar__plus_00_dot_98_bar__plus_01_dot_27) + (coolable Cup_bar__minus_00_dot_09_bar__plus_00_dot_99_bar__plus_04_dot_18) + (coolable Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82) + (coolable Bowl_bar__minus_00_dot_79_bar__plus_00_dot_72_bar__plus_03_dot_84) + (coolable Tomato_bar__minus_01_dot_79_bar__plus_00_dot_86_bar__plus_03_dot_63) + (coolable Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_84) + (coolable Bowl_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_44) + (coolable Potato_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_05) + (coolable Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62) + (coolable Tomato_bar__minus_03_dot_46_bar__plus_00_dot_98_bar__plus_01_dot_11) + (coolable Cup_bar__minus_03_dot_18_bar__plus_00_dot_92_bar__plus_01_dot_27) + (coolable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_03) + (coolable Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_99) + (coolable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_81) + (coolable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (coolable WineBottle_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_03_dot_81) + (coolable Bowl_bar__minus_00_dot_56_bar__plus_00_dot_99_bar__plus_03_dot_93) + (coolable Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36) + (coolable Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__minus_00_dot_05) + (coolable Mug_bar__minus_03_dot_65_bar__plus_00_dot_91_bar__plus_01_dot_11) + (coolable Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_11) + + (isCool Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_03) + + + + (sliceable Potato_bar__minus_01_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_05) + (sliceable Bread_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_10) + (sliceable Bread_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_01_dot_44) + (sliceable Tomato_bar__minus_03_dot_37_bar__plus_00_dot_98_bar__plus_01_dot_27) + (sliceable Apple_bar__minus_01_dot_16_bar__plus_00_dot_15_bar__plus_03_dot_82) + (sliceable Tomato_bar__minus_01_dot_79_bar__plus_00_dot_86_bar__plus_03_dot_63) + (sliceable Potato_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_05) + (sliceable Tomato_bar__minus_03_dot_46_bar__plus_00_dot_98_bar__plus_01_dot_11) + (sliceable Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_03) + (sliceable Egg_bar__minus_01_dot_73_bar__plus_00_dot_82_bar__plus_03_dot_81) + (sliceable Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_98_bar__plus_00_dot_36) + (sliceable Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_11) + + (inReceptacle Bread_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_10 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 DishSponge_bar__minus_03_dot_46_bar__plus_00_dot_92_bar__plus_03_dot_66 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Plate_bar__minus_03_dot_37_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 Spoon_bar__minus_01_dot_43_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) + (inReceptacle Spatula_bar__minus_01_dot_50_bar__plus_00_dot_93_bar__plus_04_dot_15 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Knife_bar__minus_03_dot_18_bar__plus_00_dot_94_bar__plus_03_dot_01 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Spoon_bar__minus_03_dot_04_bar__plus_00_dot_75_bar__plus_02_dot_86 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_02_dot_92) + (inReceptacle Spoon_bar__minus_01_dot_79_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 SoapBottle_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 Potato_bar__minus_01_dot_66_bar__plus_00_dot_92_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle PepperShaker_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) + (inReceptacle ButterKnife_bar__minus_01_dot_52_bar__plus_00_dot_89_bar__plus_00_dot_46 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Fork_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_46 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle SaltShaker_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 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) + (inReceptacle SaltShaker_bar__minus_01_dot_39_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_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Mug_bar__minus_01_dot_13_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 Potato_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (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 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_46_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 Bread_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_01_dot_44 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Tomato_bar__minus_03_dot_37_bar__plus_00_dot_98_bar__plus_01_dot_27 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle Cup_bar__minus_03_dot_18_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 Bowl_bar__minus_03_dot_08_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 Mug_bar__minus_03_dot_65_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 Apple_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_11 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Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Cup_bar__minus_00_dot_09_bar__plus_00_dot_99_bar__plus_04_dot_18 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Bowl_bar__minus_00_dot_56_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 Tomato_bar__minus_00_dot_32_bar__plus_01_dot_61_bar__plus_04_dot_03 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_99 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Tomato_bar__minus_01_dot_79_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 Egg_bar__minus_01_dot_73_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) 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(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) + (objectAtLocation Fork_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 Bread_bar__minus_01_dot_82_bar__plus_01_dot_00_bar__plus_04_dot_10 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__plus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_84 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97 loc_bar__minus_10_bar_8_bar_3_bar_45) + (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) + (objectAtLocation LightSwitch_bar__plus_00_dot_25_bar__plus_01_dot_38_bar__plus_02_dot_09 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+ (objectAtLocation Spoon_bar__minus_03_dot_04_bar__plus_00_dot_75_bar__plus_02_dot_86 loc_bar__minus_9_bar_13_bar_3_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60) + (objectAtLocation Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 loc_bar__minus_9_bar_1_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o TomatoType) + (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-TomatoSliced-None-Fridge-15/trial_T20190909_005346_415789/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005346_415789/traj_data.json new file mode 100644 index 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"PepperShaker_94539d9a", + "position": { + "x": -3.50501, + "y": 1.451344, + "z": 3.65462875 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_657c04b2", + "position": { + "x": -1.523391, + "y": 0.8915147, + "z": 0.461618632 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_73731673", + "position": { + "x": -3.463628, + "y": 0.9150642, + "z": 3.66382527 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_58cf1806", + "position": { + "x": -1.42879391, + "y": 0.9166293, + "z": 3.89094138 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0af3d2bb", + "position": { + "x": -3.65481567, + "y": 0.91080004, + "z": 1.10602665 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2563239361, + "scene_num": 15 + }, + "task_id": "trial_T20190909_005346_415789", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_326O153BMLPQU2UY4WIEK93EWMPED8", + "high_descs": [ + "Turn around and walk across the room and turn left to face the end of the white table.", + "Pick up the knife on the white table.", + "Turn around to face the counter.", + "Cut the tomato on the counter into slices.", + "Place the knife on the counter.", + "Pick up a slice of tomato on the counter.", + "Take a step to the right to face the microwave.", + "Heat the tomato slice in the microwave and then remove it.", + "Turn around and walk forward to face the fridge.", + "Place the tomato slice in the fridge." + ], + "task_desc": "To cool a tomato slice and place it in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3FE7TXL1LLESOVMNGYTXI71OIYHQ2G", + "high_descs": [ + "Turn around and face the table to your left.", + "Take the knife off of the table in front of you.", + "Turn left and face the counter by the stove on your left.", + "Slice the tomato on the counter in front of you.", + "Place the knife on the counter in front of you.", + "Take a tomato slice off of the counter in front of you.", + "Turn right and face the microwave on top of the stove to your left.", + "Heat up the tomato slice in the microwave in front of you, take the tomato out and close the microwave.", + "Turn around and face the fridge on your left.", + "Place the tomato slice in the fridge in front of you and close it." + ], + "task_desc": "Place a warm tomato slice in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3MD9PLUKKL5XR9C7PDAU1OGQYWLZN2", + "high_descs": [ + "Turn left then go to the right side of the table", + "Pick up the knife on the table", + "Turn left then head to the counter beside the stove", + "Cut the tomato on the counter", + "Put the knife on the counter", + "Pick up a slice of tomato", + "Turn right then head to the microwave", + "Open the microwave, put in and out the tomato slice then close microwave", + "Look down then turn right head to the fridge", + "Open the fridge and put in the slice of tomato then close the fridge" + ], + "task_desc": "Put the heated slice tomato 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-TomatoSliced-None-Fridge-15/trial_T20190909_005442_890370/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005442_890370/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2f9d95892556c09c6dc66f229fafca3b66253357 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005442_890370/initial_state.pddl @@ -0,0 +1,995 @@ + +(define (problem plan_trial_T20190909_005442_890370) +(: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_67_bar__plus_01_dot_05_bar__plus_04_dot_11 - object + Blinds_bar__minus_01_dot_41_bar__plus_02_dot_09_bar__minus_00_dot_30 - object + Bowl_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__minus_00_dot_05 - object + Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_46 - object + Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__plus_00_dot_05 - object + Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_34 - object + ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_26 - object + Chair_bar__minus_01_dot_41_bar__plus_00_dot_55_bar__plus_00_dot_96 - object + Cup_bar__minus_00_dot_21_bar__plus_01_dot_54_bar__plus_04_dot_07 - object + Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_93 - object + DishSponge_bar__minus_03_dot_54_bar__plus_01_dot_46_bar__plus_01_dot_15 - object + Egg_bar__minus_02_dot_50_bar__plus_00_dot_95_bar__plus_04_dot_21 - object + Faucet_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__plus_03_dot_93 - object + Fork_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_46 - object + Kettle_bar__minus_03_dot_19_bar__plus_00_dot_08_bar__plus_01_dot_51 - object + Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_00_dot_46 - object + Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__minus_00_dot_05 - object + Lettuce_bar__minus_02_dot_30_bar__plus_01_dot_00_bar__plus_04_dot_00 - 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_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28 - object + Mug_bar__minus_03_dot_53_bar__plus_01_dot_99_bar__plus_02_dot_31 - object + Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62 - object + PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_27 - object + PepperShaker_bar__minus_03_dot_19_bar__plus_00_dot_74_bar__plus_01_dot_20 - object + PepperShaker_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_01_dot_23 - object + Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68 - object + Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_27 - object + Potato_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_36 - object + Potato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_01_dot_44 - 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_07_bar__plus_00_dot_74_bar__plus_01_dot_13 - object + SaltShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_01_dot_43 - 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 + SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_89_bar__plus_00_dot_26 - object + SoapBottle_bar__minus_03_dot_47_bar__plus_01_dot_45_bar__plus_03_dot_50 - object + Spatula_bar__minus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_05 - object + Spoon_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36 - object + Spoon_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_70 - object + Spoon_bar__minus_01_dot_92_bar__plus_00_dot_79_bar__plus_03_dot_74 - 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_67_bar__plus_01_dot_61_bar__plus_04_dot_07 - object + Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_15 - object + Tomato_bar__minus_01_dot_19_bar__plus_00_dot_16_bar__plus_03_dot_82 - object + Tomato_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44 - object + Window_bar__minus_01_dot_43_bar__plus_01_dot_34_bar__minus_00_dot_35 - object + WineBottle_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_26 - object + WineBottle_bar__minus_03_dot_54_bar__plus_01_dot_46_bar__plus_03_dot_73 - 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_11_bar_1_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) + (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 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Potato_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_36) + (pickupable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_15) + (pickupable PepperShaker_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_01_dot_23) + (pickupable Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28) + (pickupable Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_93) + (pickupable Kettle_bar__minus_03_dot_19_bar__plus_00_dot_08_bar__plus_01_dot_51) + (pickupable Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62) + (pickupable SaltShaker_bar__minus_03_dot_07_bar__plus_00_dot_74_bar__plus_01_dot_13) + (pickupable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_16_bar__plus_03_dot_82) + (pickupable ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_26) + (pickupable Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_46) + (pickupable Tomato_bar__minus_00_dot_67_bar__plus_01_dot_61_bar__plus_04_dot_07) + (pickupable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (pickupable Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__minus_00_dot_05) + (pickupable Spoon_bar__minus_01_dot_92_bar__plus_00_dot_79_bar__plus_03_dot_74) + (pickupable PepperShaker_bar__minus_03_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_27) + (pickupable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37) + (pickupable PepperShaker_bar__minus_03_dot_19_bar__plus_00_dot_74_bar__plus_01_dot_20) + (pickupable Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_00_dot_46) + (pickupable SaltShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_01_dot_43) + (pickupable Cup_bar__minus_00_dot_21_bar__plus_01_dot_54_bar__plus_04_dot_07) + (pickupable Spoon_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36) + (isReceptacleObject Bowl_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__minus_00_dot_05) + (isReceptacleObject Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_27) + (isReceptacleObject Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68) + (isReceptacleObject Mug_bar__minus_03_dot_53_bar__plus_01_dot_99_bar__plus_02_dot_31) + (isReceptacleObject Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28) + (isReceptacleObject Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_93) + (isReceptacleObject Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62) + (isReceptacleObject Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (isReceptacleObject Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37) + (isReceptacleObject Cup_bar__minus_00_dot_21_bar__plus_01_dot_54_bar__plus_04_dot_07) + (openable Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_03_dot_30) + (openable Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_02_dot_65) + (openable Cabinet_bar__minus_03_dot_35_bar__plus_02_dot_21_bar__plus_01_dot_72) + (openable Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_01_dot_06) + (openable Cabinet_bar__minus_03_dot_37_bar__plus_01_dot_93_bar__plus_02_dot_68) + (openable Cabinet_bar__minus_01_dot_42_bar__plus_00_dot_39_bar__plus_03_dot_46) + (openable Microwave_bar__minus_03_dot_49_bar__plus_01_dot_43_bar__plus_02_dot_18) + (openable Cabinet_bar__minus_02_dot_21_bar__plus_00_dot_39_bar__plus_03_dot_46) + (openable Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (openable 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_11_bar_1_bar_1_bar_30) + + (cleanable DishSponge_bar__minus_03_dot_54_bar__plus_01_dot_46_bar__plus_01_dot_15) + (cleanable Spoon_bar__minus_01_dot_67_bar__plus_00_dot_79_bar__plus_03_dot_70) + (cleanable Bowl_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__minus_00_dot_05) + (cleanable Spatula_bar__minus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_05) + (cleanable Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_27) + (cleanable Tomato_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44) + (cleanable Lettuce_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_02_dot_84) + (cleanable Lettuce_bar__minus_02_dot_30_bar__plus_01_dot_00_bar__plus_04_dot_00) + (cleanable Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68) + (cleanable Fork_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_46) + (cleanable Mug_bar__minus_03_dot_53_bar__plus_01_dot_99_bar__plus_02_dot_31) + (cleanable Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11) + (cleanable Egg_bar__minus_02_dot_50_bar__plus_00_dot_95_bar__plus_04_dot_21) + (cleanable Potato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_01_dot_44) + (cleanable Potato_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_36) + (cleanable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_15) + (cleanable Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28) + (cleanable Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_93) + (cleanable Kettle_bar__minus_03_dot_19_bar__plus_00_dot_08_bar__plus_01_dot_51) + (cleanable Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62) + (cleanable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_16_bar__plus_03_dot_82) + (cleanable ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_26) + (cleanable Tomato_bar__minus_00_dot_67_bar__plus_01_dot_61_bar__plus_04_dot_07) + (cleanable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (cleanable Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__minus_00_dot_05) + (cleanable Spoon_bar__minus_01_dot_92_bar__plus_00_dot_79_bar__plus_03_dot_74) + (cleanable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37) + (cleanable Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_00_dot_46) + (cleanable Cup_bar__minus_00_dot_21_bar__plus_01_dot_54_bar__plus_04_dot_07) + (cleanable Spoon_bar__minus_00_dot_99_bar__plus_00_dot_89_bar__plus_00_dot_36) + + (heatable Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_27) + (heatable Tomato_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44) + (heatable Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68) + (heatable Mug_bar__minus_03_dot_53_bar__plus_01_dot_99_bar__plus_02_dot_31) + (heatable Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11) + (heatable Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__plus_00_dot_05) + (heatable Egg_bar__minus_02_dot_50_bar__plus_00_dot_95_bar__plus_04_dot_21) + (heatable Potato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_01_dot_44) + (heatable Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_34) + (heatable Potato_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_36) + (heatable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_15) + (heatable Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28) + (heatable Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_93) + (heatable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_16_bar__plus_03_dot_82) + (heatable Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_46) + (heatable Tomato_bar__minus_00_dot_67_bar__plus_01_dot_61_bar__plus_04_dot_07) + (heatable Cup_bar__minus_00_dot_21_bar__plus_01_dot_54_bar__plus_04_dot_07) + (coolable Bowl_bar__minus_01_dot_13_bar__plus_00_dot_89_bar__minus_00_dot_05) + (coolable Plate_bar__minus_03_dot_56_bar__plus_00_dot_92_bar__plus_01_dot_27) + (coolable Tomato_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44) + (coolable Lettuce_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_02_dot_84) + (coolable Lettuce_bar__minus_02_dot_30_bar__plus_01_dot_00_bar__plus_04_dot_00) + (coolable Plate_bar__minus_03_dot_01_bar__plus_00_dot_90_bar__plus_03_dot_68) + (coolable Mug_bar__minus_03_dot_53_bar__plus_01_dot_99_bar__plus_02_dot_31) + (coolable Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11) + (coolable WineBottle_bar__minus_01_dot_79_bar__plus_00_dot_89_bar__plus_00_dot_26) + (coolable Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__plus_00_dot_05) + (coolable Egg_bar__minus_02_dot_50_bar__plus_00_dot_95_bar__plus_04_dot_21) + (coolable WineBottle_bar__minus_03_dot_54_bar__plus_01_dot_46_bar__plus_03_dot_73) + (coolable Potato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_01_dot_44) + (coolable Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_34) + (coolable Potato_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_36) + (coolable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_15) + (coolable Mug_bar__minus_03_dot_43_bar__plus_00_dot_95_bar__plus_03_dot_28) + (coolable Cup_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__plus_03_dot_93) + (coolable Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62) + (coolable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_16_bar__plus_03_dot_82) + (coolable Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_46) + (coolable Tomato_bar__minus_00_dot_67_bar__plus_01_dot_61_bar__plus_04_dot_07) + (coolable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (coolable Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37) + (coolable Cup_bar__minus_00_dot_21_bar__plus_01_dot_54_bar__plus_04_dot_07) + + (isCool Tomato_bar__minus_00_dot_67_bar__plus_01_dot_61_bar__plus_04_dot_07) + + + + (sliceable Tomato_bar__minus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_44) + (sliceable Lettuce_bar__minus_03_dot_56_bar__plus_01_dot_00_bar__plus_02_dot_84) + (sliceable Lettuce_bar__minus_02_dot_30_bar__plus_01_dot_00_bar__plus_04_dot_00) + (sliceable Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11) + (sliceable Bread_bar__minus_01_dot_39_bar__plus_00_dot_97_bar__plus_00_dot_05) + (sliceable Egg_bar__minus_02_dot_50_bar__plus_00_dot_95_bar__plus_04_dot_21) + (sliceable Potato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_01_dot_44) + (sliceable Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_34) + (sliceable Potato_bar__minus_01_dot_79_bar__plus_00_dot_92_bar__plus_00_dot_36) + (sliceable Tomato_bar__minus_01_dot_13_bar__plus_00_dot_96_bar__plus_00_dot_15) + (sliceable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_16_bar__plus_03_dot_82) + (sliceable Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_46) + (sliceable Tomato_bar__minus_00_dot_67_bar__plus_01_dot_61_bar__plus_04_dot_07) + + (inReceptacleObject Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_02_dot_37 Pot_bar__minus_03_dot_42_bar__plus_00_dot_97_bar__plus_01_dot_97) + (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 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 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 Egg_bar__minus_02_dot_50_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 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 Bread_bar__minus_03_dot_08_bar__plus_01_dot_00_bar__plus_03_dot_34 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_03_dot_34) + (inReceptacle Lettuce_bar__minus_02_dot_30_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 SaltShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_01_dot_43 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36) + (inReceptacle PepperShaker_bar__minus_03_dot_19_bar__plus_00_dot_74_bar__plus_01_dot_20 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36) + (inReceptacle SaltShaker_bar__minus_03_dot_07_bar__plus_00_dot_74_bar__plus_01_dot_13 Drawer_bar__minus_03_dot_12_bar__plus_00_dot_78_bar__plus_01_dot_36) + (inReceptacle Potato_bar__minus_01_dot_79_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) + (inReceptacle Fork_bar__minus_01_dot_79_bar__plus_00_dot_89_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_26_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 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) + (inReceptacle Bread_bar__minus_01_dot_13_bar__plus_00_dot_97_bar__plus_00_dot_46 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_15 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__minus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle WineBottle_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) + (inReceptacle Bowl_bar__minus_01_dot_13_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__plus_00_dot_05 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Spatula_bar__minus_01_dot_13_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 SoapBottle_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) + (inReceptacle Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_00_dot_46 DiningTable_bar__minus_01_dot_35_bar__plus_00_dot_01_bar__plus_00_dot_33) + (inReceptacle Spoon_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_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 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 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_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 Potato_bar__minus_03_dot_37_bar__plus_00_dot_95_bar__plus_01_dot_44 CounterTop_bar__minus_03_dot_38_bar__plus_00_dot_95_bar__plus_01_dot_36) + (inReceptacle 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PepperShaker_bar__minus_03_dot_51_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 Kettle_bar__minus_03_dot_19_bar__plus_00_dot_08_bar__plus_01_dot_51 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 Cup_bar__minus_00_dot_21_bar__plus_01_dot_54_bar__plus_04_dot_07 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_61_bar__plus_04_dot_07 Fridge_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__plus_04_dot_00) + (inReceptacle Cup_bar__minus_00_dot_79_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_67_bar__plus_01_dot_05_bar__plus_04_dot_11 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(objectAtLocation Spoon_bar__minus_01_dot_92_bar__plus_00_dot_79_bar__plus_03_dot_74 loc_bar__minus_6_bar_12_bar_0_bar_45) + (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) + (objectAtLocation Egg_bar__minus_02_dot_50_bar__plus_00_dot_95_bar__plus_04_dot_21 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__minus_00_dot_05 loc_bar__minus_2_bar_2_bar_3_bar_60) + (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) + (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) + (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) + (objectAtLocation StoveKnob_bar__minus_03_dot_60_bar__plus_01_dot_11_bar__plus_02_dot_43 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(objectAtLocation Pan_bar__minus_02_dot_61_bar__plus_00_dot_90_bar__plus_03_dot_62 loc_bar__minus_11_bar_12_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_04_dot_11 loc_bar__minus_2_bar_12_bar_0_bar_60) + (objectAtLocation SaltShaker_bar__minus_03_dot_13_bar__plus_00_dot_74_bar__plus_01_dot_43 loc_bar__minus_9_bar_6_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_03_dot_51_bar__plus_01_dot_46_bar__plus_01_dot_23 loc_bar__minus_11_bar_6_bar_3_bar__minus_30) + (objectAtLocation ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_89_bar__plus_00_dot_26 loc_bar__minus_2_bar_2_bar_3_bar_60) + (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_03_dot_54_bar__plus_01_dot_46_bar__plus_01_dot_15 loc_bar__minus_11_bar_6_bar_3_bar__minus_30) + (objectAtLocation Spoon_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 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 + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o TomatoType) + (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-TomatoSliced-None-Fridge-15/trial_T20190909_005442_890370/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-Fridge-15/trial_T20190909_005442_890370/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..cd17128b79dfa0179e6c4abeaf88858340c7dc43 --- /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/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190907_221717_848357/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190907_221717_848357/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cb6a760e79dabdf2f63bd5c35290ba1db3922ade --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190907_221717_848357/initial_state.pddl @@ -0,0 +1,877 @@ + +(define (problem plan_trial_T20190907_221717_848357) +(: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_02_bar__plus_01_dot_81_bar__plus_02_dot_05 - object + Apple_bar__minus_01_dot_45_bar__plus_01_dot_37_bar__minus_03_dot_20 - object + Bowl_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_37 - object + Bowl_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + Bowl_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_26 - object + Bread_bar__minus_01_dot_52_bar__plus_01_dot_40_bar__minus_02_dot_98 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_27 - object + Cup_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_00_dot_91 - object + DishSponge_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_03_dot_23 - object + Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_23 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_02_dot_76 - object + Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72 - object + Fork_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_00_dot_91 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_00_dot_12 - object + Knife_bar__plus_00_dot_56_bar__plus_01_dot_35_bar__minus_02_dot_79 - object + Knife_bar__minus_01_dot_74_bar__plus_01_dot_36_bar__minus_01_dot_12 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74 - object + Lettuce_bar__plus_00_dot_77_bar__plus_01_dot_40_bar__minus_02_dot_05 - object + Lettuce_bar__minus_01_dot_53_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__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_76 - object + Pan_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_01_dot_96 - object + Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_42 - object + PaperTowelRoll_bar__minus_01_dot_52_bar__plus_01_dot_43_bar__minus_03_dot_09 - object + PepperShaker_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_01_dot_52 - object + Plate_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_02_dot_05 - object + Plate_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + Potato_bar__minus_01_dot_53_bar__plus_01_dot_36_bar__plus_00_dot_45 - object + Potato_bar__minus_01_dot_61_bar__plus_00_dot_32_bar__plus_02_dot_15 - object + Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + SaltShaker_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + SaltShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_11 - object + SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_31 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_43 - object + SoapBottle_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_26 - object + Spatula_bar__minus_01_dot_95_bar__plus_01_dot_07_bar__minus_00_dot_45 - object + Spoon_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_90 - object + Spoon_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_02_dot_07 - 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_02_dot_09_bar__plus_01_dot_37_bar__minus_01_dot_12 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__minus_01_dot_86 - 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_1_bar_7_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 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 Bowl_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_26 BowlType) + (objectType Bread_bar__minus_01_dot_52_bar__plus_01_dot_40_bar__minus_02_dot_98 BreadType) + (objectType SaltShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_11 SaltShakerType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_00_dot_12 KettleType) + (objectType Potato_bar__minus_01_dot_53_bar__plus_01_dot_36_bar__plus_00_dot_45 PotatoType) + (objectType Cup_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_27 CupType) + (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType) + (objectType SoapBottle_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_43 SoapBottleType) + (objectType DishSponge_bar__plus_00_dot_63_bar__plus_01_dot_32_bar__minus_03_dot_23 DishSpongeType) + (objectType Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_02_dot_72 ForkType) + (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType) + (objectType SoapBottle_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_26 SoapBottleType) + (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 Fork_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_02_dot_76 ForkType) + (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Egg_bar__minus_01_dot_59_bar__plus_00_dot_32_bar__plus_02_dot_23 EggType) + (objectType Spoon_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_90 SpoonType) + (objectType Lettuce_bar__plus_00_dot_77_bar__plus_01_dot_40_bar__minus_02_dot_05 LettuceType) + (objectType Bowl_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_02_dot_06 BowlType) + (objectType Bowl_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_37 BowlType) + (objectType Knife_bar__minus_01_dot_74_bar__plus_01_dot_36_bar__minus_01_dot_12 KnifeType) + (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 HousePlantType) + (objectType Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 ChairType) + (objectType Apple_bar__minus_01_dot_45_bar__plus_01_dot_37_bar__minus_03_dot_20 AppleType) + (objectType Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__plus_01_dot_09 LettuceType) + (objectType Mug_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_76 MugType) + (objectType 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+ ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o TomatoType) + (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-TomatoSliced-None-SideTable-3/trial_T20190907_221717_848357/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190907_221717_848357/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2fc767341b5066ef1c54d58239ff47b1ac9af752 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190907_221717_848357/traj_data.json @@ -0,0 +1,9673 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": 0.420673847, + "y": 1.32412946, + "z": -2.90023613 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_930b560d", + "position": { + "x": -0.125, + "y": 1.3324, + "z": -2.973 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_f306e730", + "position": { + "x": 0.900508642, + "y": 0.34236908, + "z": -2.26769447 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": 1.1555934, + "y": 1.323614, + "z": -2.05370474 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_bee62bfa", + "position": { + "x": -1.79031563, + "y": 1.35270047, + "z": 1.74455106 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_bee62bfa", + "position": { + "x": -1.73758006, + "y": 1.35868657, + "z": -1.11794019 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_cf9afd50", + "position": { + "x": -1.82652426, + "y": 1.33333361, + "z": -1.25536227 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_eef34b87", + "position": { + "x": -1.78949094, + "y": 0.3421222, + "z": -2.26237869 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_eef34b87", + "position": { + "x": 1.05303526, + "y": 0.3432796, + "z": -2.37100124 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": -1.88481736, + "y": 0.338814139, + "z": 0.311763644 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": -1.74942863, + "y": 0.338814139, + "z": 0.110898912 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": 0.766335964, + "y": 1.39912164, + "z": -2.05370474 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": -1.4514004, + "y": 1.37188375, + "z": -3.203495 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_dd060264", + "position": { + "x": -1.52276421, + "y": 1.39739525, + "z": -2.9817524 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_930b560d", + "position": { + "x": -0.749, + "y": 1.3324, + "z": -2.973 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_bee62bfa", + "position": { + "x": 0.5634017, + "y": 1.35270047, + "z": -2.78936434 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_eef34b87", + "position": { + "x": -1.602987, + "y": 0.3421222, + "z": -2.06300569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_e8912d85", + "position": { + "x": -1.61049628, + "y": 0.3199386, + "z": 2.151774 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_cf9afd50", + "position": { + "x": -1.23730922, + "y": 1.32319188, + "z": -3.42523718 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_61df51be", + "position": { + "x": -1.92006814, + "y": 1.32354856, + "z": -2.72122478 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_f306e730", + "position": { + "x": -1.82652426, + "y": 1.33053935, + "z": -0.9118071 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_299f2c2a", + "position": { + "x": -1.40105689, + "y": 1.32404137, + "z": 0.120481014 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c718722", + "position": { + "x": -1.5869925, + "y": 0.321009457, + "z": 2.23422623 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9d168802", + "position": { + "x": -1.75051689, + "y": 0.3434236, + "z": 1.42058778 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": -1.6817342, + "y": 0.338814139, + "z": 0.6130607 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_560d3534", + "position": { + "x": -1.85165894, + "y": 0.3447429, + "z": -1.86363292 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": -1.53080976, + "y": 1.39912164, + "z": 1.094923 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": -1.95454407, + "y": 1.06604958, + "z": -0.4510209 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": -1.52276421, + "y": 1.42728543, + "z": -3.09262371 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": -2.09335637, + "y": 1.36822677, + "z": -1.11794019 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": -2.04982066, + "y": 1.323614, + "z": -2.20134926 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": -1.954416, + "y": 0.338814139, + "z": 1.52389443 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": 0.6347654, + "y": 1.32256436, + "z": -3.232851 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -1.66056263, + "y": 1.32412946, + "z": 2.069365 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 1.01704478, + "y": 1.806104, + "z": 2.0538094 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": -1.602987, + "y": 0.33881402, + "z": -1.76394641 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1791257570, + "scene_num": 3 + }, + "task_id": "trial_T20190907_221717_848357", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3JZLYQ606HJJR_3RGU30DZTDPTON05ZI3RZTJYGLJJMF", + "high_descs": [ + "Move across the room to the counter to the left of the sink. ", + "Pick up the knife that is on the counter. ", + "Slice the tomato that is on the counter. ", + "Move slightly to the right in front of the sink. ", + "Put the knife into the sink. ", + "Move slightly left to the counter that is on the left of the sink. ", + "Pick up a tomato slice from the counter. ", + "Turn around and move across room to the microwave that is above the stove. ", + "Put the tomato in the microwave and cook it. Remove it from the microwave. ", + "Move to the left side of the black drawer unit the microwave is sitting on", + "Put the tomato slice on the left-front corner of the drawer unit. " + ], + "task_desc": "Slice, cook tomato to be placed on top of black drawer unit. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A5X1KZ9CCHREK_3SITXWYCNYQY0G1XPXSJCMGJFLLBXZ", + "high_descs": [ + "Head towards the kitchen sink.", + "Pick up the knife from the counter", + "Slice the tomato at the counter", + "Look around and face the sink.", + "Put the knife at the sink.", + "Turn left to face the counter. ", + "Pick up one slice of the tomato.", + "Bring the slice of tomato at the cabinet with microwave.", + "Open the microwave to heat it for few seconds and get it out.", + "Look around and face the cabinet.", + "Put it down to the top of the cabinet beside the microwave." + ], + "task_desc": "Heat the one piece of slice tomato.", + "votes": [ + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3YDTZAI2W0X6PGVV3PXP9Z6C0EA14C", + "high_descs": [ + "turn around go to silver counter with green cup to the left of sink", + "pick up yellow handle knife to the left of green cup", + "slice red pepper on back of silver counter", + "go to sink to the right", + "place knife in left side of sink", + "go to sliced red pepper to the left", + "pick up red pepper slice from silver counter", + "turn around, go to microwave to the left", + "place red pepper slice on plate in microwave, close microwave, microwave red pepper slice, remove red pepper slice from microwave, close microwave", + "go to left side of counter with microwave", + "place red pepper on left corner of counter with microwave" + ], + "task_desc": "Place microwaved red pepper slice on left corner of counter with microwave", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190909_111117_265901/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190909_111117_265901/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c497315a186276712844745e8d1c10e779b8e695 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190909_111117_265901/initial_state.pddl @@ -0,0 +1,939 @@ + +(define (problem plan_trial_T20190909_111117_265901) +(: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_06_bar__plus_01_dot_72_bar__plus_01_dot_72 - object + Bowl_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_03_dot_01 - object + Bowl_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object + Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_46 - object + Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 - 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_91 - object + DishSponge_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_01_dot_15 - object + DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 - object + Egg_bar__minus_01_dot_53_bar__plus_01_dot_36_bar__plus_00_dot_45 - object + Egg_bar__minus_01_dot_53_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_98_bar__plus_00_dot_95_bar__plus_01_dot_02 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Kettle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_21 - object + Kettle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_01_dot_42 - object + Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_68 - object + Knife_bar__minus_01_dot_38_bar__plus_01_dot_35_bar__minus_03_dot_09 - object + Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object + Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_98 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_41 - object + Mug_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_19 - object + Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_03_dot_24 - object + Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object + PaperTowelRoll_bar__minus_01_dot_40_bar__plus_01_dot_43_bar__plus_02_dot_07 - object + PepperShaker_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_16 - object + Plate_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_16 - object + Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Plate_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 - object + Potato_bar__minus_01_dot_45_bar__plus_01_dot_36_bar__minus_03_dot_20 - object + Potato_bar__minus_02_dot_00_bar__plus_01_dot_38_bar__minus_00_dot_91 - object + Pot_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + SaltShaker_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_01_dot_74 - object + SaltShaker_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_26 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_35_bar__minus_01_dot_96 - object + SoapBottle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_01_dot_75 - object + SoapBottle_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_36 - object + Spatula_bar__plus_00_dot_64_bar__plus_01_dot_34_bar__minus_01_dot_68 - object + Spatula_bar__minus_01_dot_79_bar__plus_01_dot_34_bar__minus_02_dot_72 - object + Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_42 - object + Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_22 - object + Spoon_bar__minus_01_dot_83_bar__plus_01_dot_07_bar__minus_00_dot_50 - 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 + 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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_4_bar__minus_8_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 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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 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CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Egg_bar__minus_01_dot_53_bar__plus_01_dot_36_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Egg_bar__minus_01_dot_53_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 Spatula_bar__plus_00_dot_64_bar__plus_01_dot_34_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Kettle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Plate_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_77 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 WineBottle_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle WineBottle_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spatula_bar__minus_01_dot_79_bar__plus_01_dot_34_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bowl_bar__plus_00_dot_28_bar__plus_01_dot_32_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Mug_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_03_dot_24 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__plus_00_dot_49_bar__plus_01_dot_35_bar__minus_02_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_01_dot_66_bar__plus_01_dot_40_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__minus_01_dot_92_bar__plus_01_dot_40_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_40_bar__plus_01_dot_43_bar__plus_02_dot_07 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_02_dot_46 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle WineBottle_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_01_dot_27 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Plate_bar__minus_01_dot_82_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 DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle Kettle_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 DishSponge_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_01_dot_15 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (inReceptacle Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Tomato_bar__plus_01_dot_28_bar__plus_01_dot_24_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Spoon_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle Tomato_bar__plus_01_dot_10_bar__plus_01_dot_71_bar__plus_01_dot_84 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Apple_bar__plus_01_dot_06_bar__plus_01_dot_72_bar__plus_01_dot_72 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Cup_bar__plus_01_dot_21_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 Tomato_bar__minus_01_dot_61_bar__plus_00_dot_31_bar__plus_02_dot_15 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Spoon_bar__minus_01_dot_83_bar__plus_01_dot_07_bar__minus_00_dot_50 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin) + 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_dd060264", + "position": { + "x": -1.53081059, + "y": 1.39739525, + "z": -2.461287 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": -1.92006814, + "y": 1.39912164, + "z": -2.981163 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": -1.74942863, + "y": 0.33881402, + "z": 0.412196 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": -2.179573, + "y": 1.318, + "z": -3.24110079 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_dd060264", + "position": { + "x": -1.51363051, + "y": 1.38091612, + "z": 0.662198663 + }, + "rotation": { + "x": -3.58481229e-05, + "y": -5.12857441e-05, + "z": 2.95964364e-05 + } + }, + { + "objectName": "Pot_930b560d", + "position": { + "x": -0.6309, + "y": 1.3317, + "z": -3.3019 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + }, + { + "objectName": "Knife_bee62bfa", + "position": { + "x": 0.492037773, + "y": 1.35270047, + "z": -2.67849255 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_eef34b87", + "position": { + "x": -1.817123, + "y": 0.3421222, + "z": 0.6130607 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_e8912d85", + "position": { + "x": -1.4514004, + "y": 1.36275363, + "z": -3.203495 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_cf9afd50", + "position": { + "x": 0.747982, + "y": 0.345163345, + "z": -1.9577744 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_61df51be", + "position": { + "x": 0.9818125, + "y": 0.9538326, + "z": 1.019027 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_f306e730", + "position": { + "x": 1.21390224, + "y": 1.30780816, + "z": 0.9135138 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Kettle_299f2c2a", + "position": { + "x": -0.749, + "y": 1.3324, + "z": -2.973 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c718722", + "position": { + "x": -1.53080976, + "y": 1.36382449, + "z": 0.445294976 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9d168802", + "position": { + "x": -1.88114953, + "y": 0.327762932, + "z": -2.03532434 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": -1.40105689, + "y": 1.31800008, + "z": 1.74455106 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_560d3534", + "position": { + "x": -1.9200685, + "y": 1.32392883, + "z": 0.445294976 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": -1.89176774, + "y": 1.4003669, + "z": -1.07309234 + }, + "rotation": { + "x": 1.30173051, + "y": 359.673767, + "z": 355.701233 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": -1.79031563, + "y": 1.33799994, + "z": -2.72122478 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": -1.40105689, + "y": 1.42728543, + "z": 2.069365 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": 1.27624369, + "y": 1.241721, + "z": 1.2225256 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": -1.9200685, + "y": 1.323614, + "z": 0.770108938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": -1.665155, + "y": 0.338814139, + "z": -2.162692 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.6457262, + "y": 0.419585526, + "z": -1.152089 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": 0.8613707, + "y": 1.20892942, + "z": 1.2225256 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 1.056315, + "y": 1.72400379, + "z": 1.7224071 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": -2.09335637, + "y": 1.32930565, + "z": -1.18665123 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3574600008, + "scene_num": 3 + }, + "task_id": "trial_T20190909_111117_265901", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A19LVWX8ZLO6CS_37W3JXSD69PFOOPIPKAHIE0DRMLYWK", + "high_descs": [ + "Look on the stove and counter and browse up and down.", + "Pick up the knife on the right side by the potato.", + "Turn around, go to the end of the kitchen, turn right to face the microwave.", + "Slice the first tomato above the spoon in half.", + "Turn right, step forward, then turn left to be center with the microwave.", + "Open the microwave, place the knife inside, close the door.", + "Return to the sliced tomato next to the microwave.", + "Pick up the first slice of tomato from the left.", + "Step forward to be centered with the microwave.", + "Open microwave, place tomato inside and turn on. Wait a few seconds till off, open door to pick up tomato slice, close microwave.", + "Turn left, step forward, turn right to the counter.", + "Place the tomato slice to the right of the spoon." + ], + "task_desc": "Cook a slice of tomato in microwave and place next to the spoon.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MXBLYX2CDGTP_3L4D84MIL297W9ZU8LNE7OB2ZR7JHD", + "high_descs": [ + "Look under the stove at the oven.", + "Take the knife from the counter to the right of the stove.", + "Turn around and walk past the sink, the turn right and walk to the table with the microwave on it next to the refrigerator.", + "Slice the tomato on the table next to the microwave.", + "Turn and open the microwave door on your right.", + "Place the knife in the microwave next to the green cup and close the door.", + "Turn back to the sliced tomato on the table.", + "Pick up one slice of tomato.", + "Turn and take the tomato slice to the microwave on your right.", + "Place the tomato slice in the microwave and cook for seven seconds, then take the tomato slice out", + "Take the cooked tomato slice and turn to the other tomato slices on the table.", + "Place the cooked tomato slice on the table next to the spoon." + ], + "task_desc": "Cut the tomato with the knife and cook one slice in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3TXD01ZLD7YMYDMT5D79K1B9B4V4UO", + "high_descs": [ + "Turn to the right to face the counter.", + "Pick up the knife on the counter.", + "Turn around, walk across the room, then turn right and cross the room to face the tomato.", + "Cut the front tomato on the microwave into slices.", + "Step to the right and face the microwave.", + "Place the knife into the microwave.", + "Step to the left and face the tomato on the counter.", + "Pick up a slice of the tomato on the counter.", + "Step to the right and turn to face the microwave.", + "Heat the tomato slice in the microwave and then remove it.", + "Step to the left and face the counter.", + "Place the tomato slice on the counter beside the spoon." + ], + "task_desc": "To cut plus heat a slice of tomato as well as place it on the counter.", + "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-TomatoSliced-None-SideTable-3/trial_T20190909_111242_102914/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190909_111242_102914/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1fc209c4ac0cea75e1a71171b0192cdf888b29c6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190909_111242_102914/initial_state.pddl @@ -0,0 +1,896 @@ + +(define (problem plan_trial_T20190909_111242_102914) +(: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_06_bar__plus_01_dot_72_bar__plus_01_dot_60 - object + Apple_bar__plus_01_dot_10_bar__plus_01_dot_81_bar__plus_02_dot_17 - object + Bowl_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_42 - object + Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_01_dot_11_bar__plus_01_dot_21_bar__plus_01_dot_24 - object + DishSponge_bar__minus_01_dot_83_bar__plus_01_dot_05_bar__minus_00_dot_63 - object + Egg_bar__plus_01_dot_18_bar__plus_01_dot_35_bar__plus_00_dot_86 - object + Egg_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_02_dot_20 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_64_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_01_dot_74 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_16 - object + Kettle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_02_dot_76 - object + Kettle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + Knife_bar__plus_00_dot_35_bar__plus_01_dot_35_bar__minus_03_dot_12 - object + Knife_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_54 - object + Knife_bar__minus_01_dot_83_bar__plus_01_dot_36_bar__minus_00_dot_91 - object + Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 - object + Mug_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_72 - object + Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pan_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_00_dot_77 - object + PaperTowelRoll_bar__minus_02_dot_18_bar__plus_01_dot_43_bar__plus_01_dot_74 - object + PepperShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_22 - object + Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + Plate_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 - object + Plate_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + Potato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31 - object + Pot_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 - object + Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_74 - object + SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_03_dot_01 - object + SoapBottle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_46 - object + Spatula_bar__plus_00_dot_49_bar__plus_01_dot_34_bar__minus_02_dot_79 - object + Spatula_bar__minus_01_dot_65_bar__plus_01_dot_34_bar__minus_01_dot_32 - object + Spatula_bar__minus_01_dot_74_bar__plus_01_dot_34_bar__minus_01_dot_05 - object + Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_50 - object + Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 - 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_86_bar__plus_01_dot_24_bar__plus_01_dot_22 - object + Tomato_bar__minus_01_dot_40_bar__plus_01_dot_36_bar__plus_02_dot_07 - object + Tomato_bar__minus_01_dot_95_bar__plus_01_dot_08_bar__minus_00_dot_59 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_03_dot_43 - object + WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_28_bar__plus_02_dot_28 - 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 - 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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_1_bar__minus_1_bar_0_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 Pan_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_00_dot_77 PanType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType PepperShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_22 PepperShakerType) + (objectType Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 SpoonType) + (objectType WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_28_bar__plus_02_dot_28 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Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43) + + + (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) + (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (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__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 loc_bar_0_bar__minus_6_bar_1_bar_30) + (objectAtLocation Apple_bar__plus_01_dot_06_bar__plus_01_dot_72_bar__plus_01_dot_60 loc_bar_0_bar_8_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Plate_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Tomato_bar__plus_00_dot_86_bar__plus_01_dot_24_bar__plus_01_dot_22 loc_bar_1_bar_4_bar_1_bar_45) + (objectAtLocation Spatula_bar__minus_01_dot_65_bar__plus_01_dot_34_bar__minus_01_dot_32 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation WineBottle_bar__minus_01_dot_63_bar__plus_00_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_5_bar_0_bar_60) + (objectAtLocation Pan_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 Egg_bar__plus_01_dot_18_bar__plus_01_dot_35_bar__plus_00_dot_86 loc_bar_1_bar_3_bar_1_bar_30) + (objectAtLocation Kettle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Fork_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_01_dot_74 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation 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loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 loc_bar__minus_4_bar__minus_3_bar_3_bar_0) + (objectAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_4_bar_3_bar_30) + (objectAtLocation Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_01_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Pot_bar__minus_01_dot_66_bar__plus_01_dot_33_bar__plus_01_dot_74 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Knife_bar__plus_00_dot_35_bar__plus_01_dot_35_bar__minus_03_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Bowl_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Potato_bar__plus_00_dot_77_bar__plus_01_dot_36_bar__minus_01_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation SoapBottle_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_03_dot_01 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_2_bar__minus_9_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_3_bar__minus_9_bar_2_bar_45) + (objectAtLocation Fork_bar__plus_00_dot_64_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Cup_bar__plus_01_dot_11_bar__plus_01_dot_21_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_05_bar__plus_00_dot_35_bar__minus_02_dot_16 loc_bar__minus_1_bar__minus_9_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_02_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30) + (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_53_bar__plus_01_dot_32_bar__plus_00_dot_77 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation SaltShaker_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_6_bar_3_bar_45) + (objectAtLocation WineBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_03_dot_43 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation 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loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Apple_bar__plus_01_dot_10_bar__plus_01_dot_81_bar__plus_02_dot_17 loc_bar_0_bar_8_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o TomatoType) + (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-TomatoSliced-None-SideTable-3/trial_T20190909_111242_102914/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-SideTable-3/trial_T20190909_111242_102914/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a3d2c249ec266f6fcd4a95a035321cabf8bd992e --- /dev/null +++ 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0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": 1.27624369, + "y": 1.2028, + "z": 1.2225256 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.82631838, + "y": 1.050614, + "z": -0.633444369 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -1.9200685, + "y": 1.32412946, + "z": 0.445294976 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 1.05631506, + "y": 1.72400379, + "z": 1.60460854 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": 0.965999663, + "y": 1.3713994, + "z": -1.53499949 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2930223108, + "scene_num": 3 + }, + "task_id": "trial_T20190909_111242_102914", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3UF6XXFFRR237_3DR23U6WE8VPQ24XUETCOR1Y5JFTEX", + "high_descs": [ + "walk over to the stove", + "pick up the knife to the left of the stove", + "take the knife to the counter with the tomato", + "slice the tomato", + "take the knife to the counter where the microwave is ", + "stick the knife through the top of the tomato on the counter near the microwave", + "go back the tomato you sliced and pick up one slice", + "take the tomato slice to the microwave", + "cook the tomato in the microwave with the egg", + "walk back over to the counter with the knife in the tomato", + "wait a moment", + "stand the cooked slice against the knife on its side" + ], + "task_desc": "cut a couple tomatoes and stick a knife through the top of one and prop a slice from the other up on the knife", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3FFJ6VRIL450QY9SSVVTPVXL0WDI0X", + "high_descs": [ + "Turn around and walk to the stove and take a tiny step right.", + "Pick up the yellow handled knife.", + "Turn around and walk to the wall then turn left and walk to the tomato.", + "Cut up the tomato.", + "Turn left and take a step then turn left and walk to the microwave.", + "Stab the knife in the tomato so that the knife stays upright.", + "Walk back to the sliced up tomato.", + "Pick up a slice of potato.", + "Go back to the microwave.", + "Warm the tomato slice in the microwave and then get it back out and close the door.", + "Move slightly to your left a half a step.", + "Put the slice of tomato to the right of the tomato." + ], + "task_desc": "Put a warm slice of tomato on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3STRJBFXOZ8SC2W7Q04FMME3PEPKTI", + "high_descs": [ + "Go to the counter to the left of the stove.", + "Pick up the knife on the counter behind the lotion.", + "Turn around and walk to the counter across the room from the fridge.", + "Slice the tomato on the counter.", + "Go across the room to the microwave.", + "Put the knife down on top of the tomato on the counter in front of the microwave.", + "Go back to the counter above the recycling bin.", + "Pick up a tomato slice on the counter.", + "Take the tomato slice across the room to the microwave.", + "Heat the tomato slice in the microwave.", + "Move to the counter in front of the microwave.", + "Set the warm tomato slice on the counter." + ], + "task_desc": "Set a cooked tomato slice on the counter.", + "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-Desk-304/trial_T20190907_215326_695860/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190907_215326_695860/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f18ecd5c8e560f1cc3ec8fe297d82c9c49d820eb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190907_215326_695860/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 desk.\"\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_215326_695860)\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_38_bar__plus_01_dot_54_bar__minus_01_dot_51 - object\n AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 - object\n BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object\n Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object\n Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 - object\n Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_02_dot_33 - object\n Book_bar__minus_01_dot_44_bar__plus_00_dot_90_bar__plus_01_dot_16 - object\n Bowl_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61 - object\n Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52 - object\n Bowl_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59 - object\n Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object\n CD_bar__minus_00_dot_01_bar__plus_00_dot_09_bar__minus_01_dot_53 - object\n CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_39 - object\n CellPhone_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59 - object\n Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object\n Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object\n CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 - object\n CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30 - object\n CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 - object\n DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object\n KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 - object\n Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_04 - object\n Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_00_dot_87 - object\n LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object\n Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object\n Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63 - object\n Pencil_bar__minus_01_dot_15_bar__plus_00_dot_43_bar__minus_01_dot_35 - object\n Pencil_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 - object\n Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_48 - object\n Pen_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_44 - object\n Pen_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_39 - object\n Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 - object\n Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 - object\n Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61 - object\n Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 - object\n Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object\n Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle\n Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle\n Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle\n LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle\n Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_0 - location\n loc_bar_2_bar_9_bar_0_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar_6_bar_3_bar__minus_15 - location\n loc_bar_0_bar_8_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType)\n (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType)\n (objectType Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61 StatueType)\n (objectType KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 KeyChainType)\n (objectType Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 BookType)\n (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType)\n (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 AlarmClockType)\n (objectType CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_39 CDType)\n (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType)\n (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType)\n (objectType Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_04 LaptopType)\n (objectType CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 CreditCardType)\n (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType)\n (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType)\n (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType)\n (objectType Pencil_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 PencilType)\n (objectType Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 PillowType)\n (objectType Bowl_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59 BowlType)\n (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 AlarmClockType)\n (objectType 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loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Statue_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)\n (objectAtLocation Bowl_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)\n (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)\n (objectAtLocation Book_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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Pen_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_15_bar__plus_00_dot_43_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_04 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_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)\n (objectAtLocation CreditCard_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)\n (objectAtLocation CellPhone_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)\n (objectAtLocation CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n (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)\n (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)\n (objectAtLocation Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 AlarmClockType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 AlarmClockType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take alarmclock 1 from shelf 1", "go to desk 1", "move alarmclock 1 to desk 1", "go to shelf 1", "take alarmclock 2 from shelf 1", "go to desk 1", "move alarmclock 2 to desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190907_215326_695860/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190907_215326_695860/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6d5aa03aa700dd9f3419f880f367c56e97ccf89b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190907_215326_695860/initial_state.pddl @@ -0,0 +1,525 @@ + +(define (problem plan_trial_T20190907_215326_695860) +(: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_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_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 - object + Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_02_dot_33 - object + Book_bar__minus_01_dot_44_bar__plus_00_dot_90_bar__plus_01_dot_16 - object + Bowl_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52 - object + Bowl_bar__minus_01_dot_57_bar__plus_01_dot_54_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_00_dot_01_bar__plus_00_dot_09_bar__minus_01_dot_53 - object + CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_39 - object + CellPhone_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59 - 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_62_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30 - object + CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_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 + Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_04 - object + Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_00_dot_87 - 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_86_bar__plus_00_dot_98_bar__minus_01_dot_63 - object + Pencil_bar__minus_01_dot_15_bar__plus_00_dot_43_bar__minus_01_dot_35 - object + Pencil_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 - object + Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_48 - object + Pen_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_44 - object + Pen_bar__minus_01_dot_33_bar__plus_00_dot_74_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_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 - object + Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61 - object + Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 - 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_6_bar__minus_2_bar_3_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 Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61 StatueType) + (objectType KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61 KeyChainType) + (objectType Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44 BookType) + (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 AlarmClockType) + (objectType CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_39 CDType) + (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 Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_04 LaptopType) + (objectType CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 CreditCardType) + (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 Pencil_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 PencilType) + (objectType Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48 PillowType) + (objectType Bowl_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59 BowlType) + (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 AlarmClockType) + (objectType Pen_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_39 PenType) + (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType) + (objectType CD_bar__minus_00_dot_01_bar__plus_00_dot_09_bar__minus_01_dot_53 CDType) + (objectType Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType) + (objectType CellPhone_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59 CellPhoneType) + (objectType Pencil_bar__minus_01_dot_15_bar__plus_00_dot_43_bar__minus_01_dot_35 PencilType) + (objectType CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30 CreditCardType) + (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType) + (objectType Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType) + (objectType Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_00_dot_87 LaptopType) + (objectType Bowl_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61 BowlType) + (objectType Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63 MugType) + (objectType Pen_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_44 PenType) + (objectType Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_02_dot_33 BookType) + (objectType CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 CreditCardType) + (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType) + (objectType Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52 BowlType) + (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType) + (objectType Book_bar__minus_01_dot_44_bar__plus_00_dot_90_bar__plus_01_dot_16 BookType) + (objectType Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_48 PenType) + (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 Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_61) + (pickupable KeyChain_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable Book_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_44) + (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51) + (pickupable CD_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_39) + (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (pickupable Laptop_bar__minus_01_dot_30_bar__plus_00_dot_89_bar__plus_02_dot_04) + (pickupable CreditCard_bar__minus_00_dot_62_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 Pencil_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20) + (pickupable Pillow_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_48) + (pickupable Bowl_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59) + (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67) + (pickupable Pen_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_39) + (pickupable CD_bar__minus_00_dot_01_bar__plus_00_dot_09_bar__minus_01_dot_53) + (pickupable Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28) + (pickupable CellPhone_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_59) + (pickupable Pencil_bar__minus_01_dot_15_bar__plus_00_dot_43_bar__minus_01_dot_35) + (pickupable CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30) + (pickupable Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28) + (pickupable Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_00_dot_87) + (pickupable Bowl_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63) + (pickupable Pen_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_44) + (pickupable Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_02_dot_33) + (pickupable CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39) + (pickupable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52) + (pickupable Book_bar__minus_01_dot_44_bar__plus_00_dot_90_bar__plus_01_dot_16) + (pickupable Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_48) + (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (isReceptacleObject Bowl_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59) + (isReceptacleObject Bowl_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61) + (isReceptacleObject Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63) + (isReceptacleObject Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52) + + + (atLocation agent1 loc_bar__minus_6_bar__minus_2_bar_3_bar_30) + + (cleanable Bowl_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59) + (cleanable Bowl_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61) + (cleanable Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63) + (cleanable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_52) + + (heatable Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63) + (coolable Bowl_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_59) + (coolable Bowl_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_61) + (coolable Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63) + (coolable Bowl_bar__minus_01_dot_20_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_39 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34) + (inReceptacle Pencil_bar__minus_01_dot_15_bar__plus_00_dot_43_bar__minus_01_dot_35 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_02_dot_04 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_02_dot_33 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 Book_bar__minus_01_dot_44_bar__plus_00_dot_90_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_44_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 Bowl_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 Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Statue_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 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 Pen_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_44 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_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Pencil_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Bowl_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 Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Mug_bar__minus_00_dot_86_bar__plus_00_dot_98_bar__minus_01_dot_63 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CreditCard_bar__minus_01_dot_41_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 CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34) + (inReceptacle Pen_bar__minus_01_dot_33_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 CreditCard_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 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 CellPhone_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 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 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 Bowl_bar__minus_01_dot_57_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 Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_48 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle CD_bar__minus_00_dot_01_bar__plus_00_dot_09_bar__minus_01_dot_53 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 Statue_bar__minus_01_dot_60_bar__plus_00_dot_99_bar__minus_01_dot_28 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_00_dot_01_bar__plus_00_dot_09_bar__minus_01_dot_53 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Bowl_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 Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_00_dot_87 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Pencil_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_02_dot_33 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Book_bar__minus_01_dot_44_bar__plus_00_dot_90_bar__plus_01_dot_16 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation CreditCard_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 Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Statue_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 Bowl_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 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_44 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_33_bar__plus_00_dot_74_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_15_bar__plus_00_dot_43_bar__minus_01_dot_35 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_04 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_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_59_bar__plus_00_dot_98_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_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 CellPhone_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 CD_bar__minus_01_dot_41_bar__plus_00_dot_42_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 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_86_bar__plus_00_dot_98_bar__minus_01_dot_63 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 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 (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 AlarmClockType) + (receptacleType ?r DeskType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 AlarmClockType) + (receptacleType ?r DeskType) + (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-Desk-304/trial_T20190907_215326_695860/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190907_215326_695860/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..b1be3ffd9af55bf6dca6f2b35fd6bd01695b89dd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190907_215326_695860/traj_data.json @@ -0,0 +1,7038 @@ +{ + "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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"Mug_9c9dffb8", + "position": { + "x": -0.8615606, + "y": 0.97539866, + "z": -1.628963 + }, + "rotation": { + "x": -0.000111049943, + "y": 37.7778358, + "z": -0.0001444763 + } + }, + { + "objectName": "Statue_f17ac2ff", + "position": { + "x": -1.6033802, + "y": 0.9887964, + "z": -1.28130066 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 455057086, + "scene_num": 304 + }, + "task_id": "trial_T20190907_215326_695860", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1OWHPMKE7YAGL_30OG32W0SXSRVPZDXI70FSV6GWYNEL", + "high_descs": [ + "Turn to the left and go to the desk with the statues on it. ", + "Pick up the clock that is on the left on the shelf above the statues. ", + "Move left at the desk and turn to the right where the pencil is on the desk. ", + "Put the clock down on the desk to the right of the pencil.", + "Move right at the desk and turn to the left where the statues are on the desk.", + "Pick up the clock that is on the shelf above the statues. ", + "Move to the left at the desk and turn to where the pencil is on the desk.", + "Put the clock down on the desk behind the pencil." + ], + "task_desc": "Put two clocks on a desk. ", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3TVRFO09GNWADPN9GAHDQPCOR7RLX8", + "high_descs": [ + "Turn left, go straight to the desk.", + "Take the closest clock from the upper shelf of the desk.", + "Move a step to the left.", + "Put the clock to the left of the right statue.", + "Move a step to the right.", + "Take the remaining clock from the upper shelf of the desk.", + "Move a step to the left.", + "Put the clock to the left of the first clock." + ], + "task_desc": "Put two clocks on a desk.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A30M9SZYJKFDS9_3SITXWYCNYQY0G1XPXSJCMGJFK4BXG", + "high_descs": [ + "turn to the right", + "pick up a clock from the tops shelf of the desk", + "turn to the left face the desk ", + "put the clock on top of the desk", + "turn to the right to the left face the desk ", + "pick up a wooden box from the top shelf of the desk", + "turn to the left go right ", + "put the wooden box on top of the desk next to the clock" + ], + "task_desc": "put a wooden box and a clock on top of the desk", + "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-AlarmClock-None-Desk-304/trial_T20190910_021303_108559/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_021303_108559/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..35dfd6e9bfa34956ef95004809b9c265f90f3e4f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_021303_108559/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 desk.\"\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_021303_108559)\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_00_bar__plus_01_dot_54_bar__minus_01_dot_59 - object\n AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 - object\n BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object\n Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object\n Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n Book_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 - object\n Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16 - object\n Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 - object\n Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36 - object\n Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object\n CD_bar__minus_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45 - object\n CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20 - object\n CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 - object\n CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44 - object\n CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35 - object\n CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_39 - object\n Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object\n Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object\n CreditCard_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_71 - object\n CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48 - object\n CreditCard_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - object\n DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object\n KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48 - object\n KeyChain_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 - object\n KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_63 - object\n Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75 - object\n LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object\n Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object\n Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63 - object\n Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 - object\n Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55 - object\n Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 - object\n Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51 - object\n Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44 - object\n Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 - object\n Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 - object\n Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 - object\n Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 - object\n Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_61 - object\n Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object\n Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle\n Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle\n Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle\n LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle\n Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_0 - location\n loc_bar_2_bar_9_bar_0_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar_6_bar_3_bar__minus_15 - location\n loc_bar_0_bar_8_bar_0_bar_60 - location\n loc_bar_2_bar_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType)\n (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType)\n (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType)\n (objectType Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType)\n (objectType KeyChain_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 KeyChainType)\n (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 PencilType)\n (objectType KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_63 KeyChainType)\n (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType)\n (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType)\n (objectType CreditCard_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 CreditCardType)\n (objectType Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51 PenType)\n (objectType Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55 MugType)\n (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType)\n (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType)\n (objectType Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75 LaptopType)\n (objectType Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16 BookType)\n (objectType CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44 CellPhoneType)\n (objectType KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48 KeyChainType)\n (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType)\n (objectType Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36 BowlType)\n (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67 AlarmClockType)\n (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType)\n (objectType Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63 MugType)\n (objectType Book_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 BookType)\n (objectType CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48 CreditCardType)\n (objectType CreditCard_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_71 CreditCardType)\n (objectType Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44 PenType)\n (objectType AlarmClock_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59 AlarmClockType)\n (objectType Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 PenType)\n (objectType CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 CDType)\n (objectType CD_bar__minus_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45 CDType)\n (objectType Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_61 StatueType)\n (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType)\n (objectType Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 BowlType)\n (objectType CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20 CDType)\n (objectType Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_45 BookType)\n (objectType CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_39 CellPhoneType)\n (objectType Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 MugType)\n (objectType Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 PillowType)\n (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType)\n (objectType CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35 CellPhoneType)\n (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType)\n (objectType Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 StatueType)\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 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 MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType StatueType)\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 DeskType PenType)\n (canContain DeskType BookType)\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 StatueType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28)\n (pickupable KeyChain_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52)\n (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69)\n (pickupable KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_63)\n (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (pickupable CreditCard_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (pickupable Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51)\n (pickupable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55)\n (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09)\n (pickupable Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75)\n (pickupable Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16)\n (pickupable CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44)\n (pickupable KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48)\n (pickupable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67)\n (pickupable Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63)\n (pickupable Book_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (pickupable CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48)\n (pickupable CreditCard_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_71)\n (pickupable Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44)\n (pickupable AlarmClock_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59)\n (pickupable Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30)\n (pickupable CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28)\n (pickupable CD_bar__minus_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45)\n (pickupable Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_61)\n (pickupable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (pickupable CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (pickupable Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_45)\n (pickupable CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_39)\n (pickupable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (pickupable Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16)\n (pickupable CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35)\n (pickupable Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63)\n (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (isReceptacleObject Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55)\n (isReceptacleObject Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (isReceptacleObject Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63)\n (isReceptacleObject Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (isReceptacleObject Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20)\n \n \n (atLocation agent1 loc_bar_2_bar_3_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55)\n (cleanable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (cleanable Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63)\n (cleanable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (cleanable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20)\n \n (heatable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55)\n (heatable Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63)\n (heatable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (coolable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55)\n (coolable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (coolable Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63)\n (coolable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (coolable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20)\n \n \n (toggleable DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56)\n \n \n \n \n (inReceptacle CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34)\n (inReceptacle Laptop_bar__minus_01_dot_44_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)\n (inReceptacle Pillow_bar__minus_01_dot_44_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)\n (inReceptacle Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_45 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle KeyChain_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)\n (inReceptacle Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CD_bar__minus_01_dot_20_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)\n (inReceptacle Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CellPhone_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)\n (inReceptacle Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (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)\n (inReceptacle Statue_bar__minus_01_dot_20_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)\n (inReceptacle CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CreditCard_bar__minus_01_dot_60_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)\n (inReceptacle Book_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)\n (inReceptacle Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34)\n (inReceptacle CellPhone_bar__minus_01_dot_50_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)\n (inReceptacle CreditCard_bar__minus_01_dot_00_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)\n (inReceptacle Pen_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)\n (inReceptacle Mug_bar__minus_01_dot_57_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)\n (inReceptacle AlarmClock_bar__minus_01_dot_00_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)\n (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)\n (inReceptacle KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (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)\n (inReceptacle KeyChain_bar__minus_01_dot_57_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)\n (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)\n (inReceptacle Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (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)\n (inReceptacle CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (inReceptacle CD_bar__minus_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45 GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n (objectAtLocation CD_bar__minus_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45 loc_bar_0_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (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)\n (objectAtLocation KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Book_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)\n (objectAtLocation CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_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)\n (objectAtLocation CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (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)\n (objectAtLocation Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Pen_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)\n (objectAtLocation Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (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)\n (objectAtLocation KeyChain_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)\n (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)\n (objectAtLocation CreditCard_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)\n (objectAtLocation CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (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)\n (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)\n (objectAtLocation Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_61 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 AlarmClockType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 AlarmClockType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take alarmclock 1 from shelf 1", "go to desk 1", "move alarmclock 1 to desk 1", "go to shelf 1", "take alarmclock 2 from shelf 1", "go to desk 1", "move alarmclock 2 to desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_021303_108559/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_021303_108559/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4d22bb428af43e5a444d922e2e93d15a60273b51 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_021303_108559/initial_state.pddl @@ -0,0 +1,550 @@ + +(define (problem plan_trial_T20190910_021303_108559) +(: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_00_bar__plus_01_dot_54_bar__minus_01_dot_59 - 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_01_dot_45 - object + Book_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16 - object + Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 - object + Bowl_bar__minus_01_dot_40_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_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45 - object + CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20 - object + CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 - object + CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44 - object + CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35 - object + CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_10_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_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_71 - object + CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48 - object + CreditCard_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - 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_01_dot_54_bar__minus_01_dot_48 - object + KeyChain_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 - object + KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + Laptop_bar__minus_01_dot_44_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_81_bar__plus_01_dot_53_bar__minus_01_dot_63 - object + Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 - object + Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55 - object + Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 - object + Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51 - object + Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44 - object + Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 - object + Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 - object + Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 - object + Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_61 - 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_2_bar_3_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 DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType) + (objectType KeyChain_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52 KeyChainType) + (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 PencilType) + (objectType KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_63 KeyChainType) + (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 CreditCard_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 CreditCardType) + (objectType Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51 PenType) + (objectType Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55 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 Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75 LaptopType) + (objectType Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16 BookType) + (objectType CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44 CellPhoneType) + (objectType KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48 KeyChainType) + (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType) + (objectType Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36 BowlType) + (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 Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63 MugType) + (objectType Book_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 BookType) + (objectType CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48 CreditCardType) + (objectType CreditCard_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_71 CreditCardType) + (objectType Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44 PenType) + (objectType AlarmClock_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59 AlarmClockType) + (objectType Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 PenType) + (objectType CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 CDType) + (objectType CD_bar__minus_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45 CDType) + (objectType Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_61 StatueType) + (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType) + (objectType Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59 BowlType) + (objectType CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20 CDType) + (objectType Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_45 BookType) + (objectType CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_39 CellPhoneType) + (objectType Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 MugType) + (objectType Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16 PillowType) + (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType) + (objectType CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35 CellPhoneType) + (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) + (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 Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28) + (pickupable KeyChain_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_52) + (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69) + (pickupable KeyChain_bar__minus_01_dot_57_bar__plus_01_dot_54_bar__minus_01_dot_63) + (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (pickupable CreditCard_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable Pen_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_51) + (pickupable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55) + (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09) + (pickupable Laptop_bar__minus_01_dot_44_bar__plus_00_dot_89_bar__plus_01_dot_75) + (pickupable Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16) + (pickupable CellPhone_bar__minus_01_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_44) + (pickupable KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48) + (pickupable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_67) + (pickupable Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63) + (pickupable Book_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48) + (pickupable CreditCard_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_71) + (pickupable Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44) + (pickupable AlarmClock_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_59) + (pickupable Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30) + (pickupable CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28) + (pickupable CD_bar__minus_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45) + (pickupable Statue_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_61) + (pickupable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59) + (pickupable CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20) + (pickupable Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_45) + (pickupable CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_39) + (pickupable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20) + (pickupable Pillow_bar__minus_01_dot_44_bar__plus_00_dot_95_bar__plus_01_dot_16) + (pickupable CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35) + (pickupable Statue_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_63) + (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (isReceptacleObject Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55) + (isReceptacleObject Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36) + (isReceptacleObject Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63) + (isReceptacleObject Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59) + (isReceptacleObject Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20) + + + (atLocation agent1 loc_bar_2_bar_3_bar_2_bar_30) + + (cleanable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55) + (cleanable Bowl_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_36) + (cleanable Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63) + (cleanable Bowl_bar__minus_01_dot_18_bar__plus_01_dot_53_bar__minus_01_dot_59) + (cleanable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20) + + (heatable Mug_bar__minus_01_dot_57_bar__plus_01_dot_53_bar__minus_01_dot_55) + (heatable Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63) + (heatable Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20) + (coolable 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Book_bar__minus_01_dot_71_bar__plus_00_dot_90_bar__plus_01_dot_16 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_01_dot_45 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47) + (inReceptacle Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle KeyChain_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 Statue_bar__minus_00_dot_79_bar__plus_00_dot_99_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CD_bar__minus_01_dot_20_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 Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 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_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle Pencil_bar__minus_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 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 Statue_bar__minus_01_dot_20_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 CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41) + (inReceptacle CreditCard_bar__minus_01_dot_60_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 Book_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 Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34) + (inReceptacle CellPhone_bar__minus_01_dot_50_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 CreditCard_bar__minus_01_dot_00_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 Pen_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 Mug_bar__minus_01_dot_57_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) + (inReceptacle AlarmClock_bar__minus_01_dot_00_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 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 KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48 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 KeyChain_bar__minus_01_dot_57_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 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 Mug_bar__minus_00_dot_81_bar__plus_01_dot_53_bar__minus_01_dot_63 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) + (inReceptacle CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48 Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59) + (inReceptacle CD_bar__minus_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45 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 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 Mug_bar__minus_01_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_20 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_00_dot_04_bar__plus_00_dot_09_bar__minus_01_dot_45 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_41_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (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 KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_54_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation Book_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 CreditCard_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_48 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation Pen_bar__minus_01_dot_20_bar__plus_00_dot_99_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_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 CD_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_28 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_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15) + (objectAtLocation 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(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_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_00_dot_59_bar__plus_00_dot_99_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_44_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_44_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_40_bar__plus_00_dot_98_bar__minus_01_dot_52 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 CreditCard_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 CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_39 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CD_bar__minus_00_dot_39_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_00_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_01_dot_57_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_61 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 (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 AlarmClockType) + (receptacleType ?r DeskType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 AlarmClockType) + (receptacleType ?r DeskType) + (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-Desk-304/trial_T20190910_021303_108559/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_021303_108559/traj_data.json new file mode 100644 index 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"A1S1K7134S2VUC_3F0BG9B9MS40Y9OHHC25QY1WYTVY7X", + "high_descs": [ + "Turn right, move to the desk near the coffee cup.", + "Pick up the clock, near the coffee cup, from the shelf.", + "Turn right, move to the desk near the coffee cup.", + "Put the clock on the desk left of the coffee cup.", + "Turn right, move to the desk near the coffee cup.", + "Pick up the clock from the shelf.", + "Turn left, move to the desk near the coffee cup.", + "Put the clock on the desk left of the first clock." + ], + "task_desc": "Place two clocks on the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2NGMLBFZ3YQP5_3QAVNHZ3EPLYHCFG50PZ6H1QQJBALG", + "high_descs": [ + "Turn right, walk toward to wall, turn left to face desk.", + "Pick up the clock on the left on the shelf above desk.", + "Turn to right, turn back to face the desk.", + "Put clock onto lower part of desk, facing forward, on top of CD.", + "Turn to right, turn back to face the desk.", + "Pick up the clock on the shelf above desk.", + "Turn to left, turn back to face the desk.", + "Put clock on the desk, facing forward, to the left of the other clock." + ], + "task_desc": "Move two clocks from the shelf at the top of a desk to the desk itself.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1AKL5YH9NLD2V_3V26SBZTBGVJN94SWTW7VP3XEFFZZI", + "high_descs": [ + "Turn right and walk to the desk with the statues on it.", + "Pick up the clock closest to the white mug on the top shelf of the desk.", + "Turn right and walk to the CD on the desk.", + "Place the clock in front of the CD on the desk.", + "Turn right and walk to the clock on the top shelf of the desk.", + "Pick up the clock on the top shelf of the desk.", + "Turn left and walk to the clock on the desk.", + "Place the clock to the left of the clock already on the desk." + ], + "task_desc": "Place two clocks in front of the phone on 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-AlarmClock-None-Desk-304/trial_T20190910_105949_580836/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_105949_580836/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f0392db685da346152138c1ebfb0c81ba58f48c4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_105949_580836/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 desk.\"\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_105949_580836)\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_81_bar__plus_01_dot_54_bar__minus_01_dot_63 - object\n AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 - object\n BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 - object\n Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 - object\n Book_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_30 - object\n Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 - object\n Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object\n CD_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 - object\n CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_75 - object\n Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 - object\n Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 - object\n CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69 - object\n CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_55 - object\n DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object\n KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36 - object\n KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_26 - object\n Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58 - object\n LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 - object\n Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 - object\n Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 - object\n Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - object\n Pencil_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_35 - object\n Pen_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_20 - object\n Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 - object\n Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_35 - object\n Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_04 - object\n Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_45 - object\n Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 - object\n Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_44 - object\n Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 - object\n Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 - object\n Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 - receptacle\n Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 - receptacle\n Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 - receptacle\n Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 - receptacle\n GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 - receptacle\n LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 - receptacle\n Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 - receptacle\n loc_bar_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar_0 - location\n loc_bar_2_bar_9_bar_0_bar_45 - location\n loc_bar_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_3_bar_2_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_3_bar_2_bar_15 - location\n loc_bar__minus_1_bar_6_bar_3_bar_45 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_2_bar_6_bar_3_bar__minus_15 - location\n loc_bar_0_bar_8_bar_0_bar_60 - location\n loc_bar_6_bar_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_04_bar__plus_00_dot_01_bar__minus_01_dot_53 GarbageCanType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34 DrawerType)\n (receptacleType Shelf_bar__minus_01_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_59 ShelfType)\n (receptacleType LaundryHamper_bar__plus_00_dot_00_bar__plus_00_dot_01_bar__plus_02_dot_52 LaundryHamperType)\n (receptacleType Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41 DeskType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_01_dot_93_bar__plus_01_dot_47 BedType)\n (receptacleType Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47 BedType)\n (objectType CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_75 CellPhoneType)\n (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType)\n (objectType Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_35 PenType)\n (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 AlarmClockType)\n (objectType Mirror_bar__plus_01_dot_91_bar__plus_01_dot_39_bar__plus_00_dot_97 MirrorType)\n (objectType Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 BoxType)\n (objectType CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69 CreditCardType)\n (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType)\n (objectType Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58 LaptopType)\n (objectType BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09 BasketBallType)\n (objectType Chair_bar__plus_00_dot_89_bar__plus_00_dot_01_bar__minus_01_dot_44 ChairType)\n (objectType Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_04 PillowType)\n (objectType Book_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_30 BookType)\n (objectType Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 MugType)\n (objectType Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 BowlType)\n (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType)\n (objectType Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 MugType)\n (objectType Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 StatueType)\n (objectType CD_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 CDType)\n (objectType Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType)\n (objectType Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 PenType)\n (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType)\n (objectType Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_45 PillowType)\n (objectType Pen_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_20 PenType)\n (objectType KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36 KeyChainType)\n (objectType AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 AlarmClockType)\n (objectType Blinds_bar__plus_01_dot_06_bar__plus_02_dot_38_bar__minus_02_dot_09 BlindsType)\n (objectType Chair_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__minus_01_dot_21 ChairType)\n (objectType Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_44 StatueType)\n (objectType CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_55 CreditCardType)\n (objectType Pencil_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_35 PencilType)\n (objectType KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_26 KeyChainType)\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 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 MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType StatueType)\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 DeskType PenType)\n (canContain DeskType BookType)\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 StatueType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain BedType BasketBallType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (pickupable CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_75)\n (pickupable Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_35)\n (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51)\n (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69)\n (pickupable Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58)\n (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09)\n (pickupable Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_04)\n (pickupable Book_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_30)\n (pickupable Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (pickupable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (pickupable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (pickupable Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59)\n (pickupable CD_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63)\n (pickupable Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28)\n (pickupable Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30)\n (pickupable Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_45)\n (pickupable Pen_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_20)\n (pickupable KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (pickupable AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63)\n (pickupable Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_44)\n (pickupable CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_55)\n (pickupable Pencil_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_35)\n (pickupable KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_26)\n (isReceptacleObject Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07)\n (isReceptacleObject Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (isReceptacleObject Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (isReceptacleObject Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36)\n \n \n (atLocation agent1 loc_bar_6_bar_1_bar_3_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (cleanable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (cleanable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36)\n \n (heatable Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (heatable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36)\n (coolable Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20)\n (coolable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61)\n (coolable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36)\n \n \n (toggleable DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56)\n \n \n \n \n (inReceptacle Pencil_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34)\n (inReceptacle Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_54_bar__minus_01_dot_34)\n (inReceptacle Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_04 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_45 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_75 Bed_bar__minus_01_dot_31_bar__plus_00_dot_69_bar__plus_01_dot_47)\n (inReceptacle Pen_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle CreditCard_bar__minus_00_dot_59_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)\n (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)\n (inReceptacle Bowl_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)\n (inReceptacle Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_44 Desk_bar__minus_00_dot_88_bar__plus_00_dot_00_bar__minus_01_dot_41)\n (inReceptacle Mug_bar__minus_01_dot_60_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)\n (inReceptacle KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_26 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_83_bar__minus_01_dot_34)\n (inReceptacle Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34)\n (inReceptacle Book_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_30 Drawer_bar__minus_01_dot_41_bar__plus_00_dot_22_bar__minus_01_dot_34)\n (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)\n (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)\n (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)\n (inReceptacle Statue_bar__minus_01_dot_50_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)\n (inReceptacle CreditCard_bar__minus_00_dot_62_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)\n (inReceptacle CD_bar__minus_01_dot_19_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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n (objectAtLocation CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_55 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (objectAtLocation KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_26 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_45 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n (objectAtLocation Book_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_30 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Pen_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_04 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (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)\n (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)\n (objectAtLocation Bowl_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)\n (objectAtLocation CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_75 loc_bar__minus_1_bar_6_bar_3_bar_45)\n (objectAtLocation CD_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 loc_bar__minus_4_bar__minus_3_bar_2_bar_15)\n (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)\n (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)\n (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)\n (objectAtLocation Mug_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)\n (objectAtLocation Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_3_bar_2_bar_60)\n (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)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 AlarmClockType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 AlarmClockType)\n (receptacleType ?r DeskType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take alarmclock 1 from shelf 1", "go to desk 1", "move alarmclock 1 to desk 1", "go to shelf 1", "take alarmclock 2 from shelf 1", "go to desk 1", "move alarmclock 2 to desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_105949_580836/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_105949_580836/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b7e64492a1dbf6366d86331297e72b09ad3e74f5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-AlarmClock-None-Desk-304/trial_T20190910_105949_580836/initial_state.pddl @@ -0,0 +1,498 @@ + +(define (problem plan_trial_T20190910_105949_580836) +(: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 + 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_50_bar__plus_00_dot_10_bar__minus_01_dot_30 - object + Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 - object + Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07 - object + CD_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 - object + CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_75 - 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_69 - object + CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_55 - object + DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 - object + KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_26 - object + Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58 - 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_20_bar__plus_00_dot_98_bar__minus_01_dot_20 - object + Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 - object + Pencil_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_35 - object + Pen_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_20 - object + Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 - object + Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_35 - object + Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_04 - object + Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_45 - object + Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 - object + Statue_bar__minus_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_44 - object + Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_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_1_bar_3_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_03_bar__plus_00_dot_90_bar__plus_01_dot_75 CellPhoneType) + (objectType DeskLamp_bar__minus_00_dot_35_bar__plus_01_dot_53_bar__minus_01_dot_56 DeskLampType) + (objectType Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_35 PenType) + (objectType AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51 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 CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69 CreditCardType) + (objectType LaundryHamperLid_bar_00_dot_00_bar__plus_00_dot_48_bar__plus_02_dot_52 LaundryHamperLidType) + (objectType Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58 LaptopType) + (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_16_bar__plus_00_dot_95_bar__plus_02_dot_04 PillowType) + (objectType Book_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_30 BookType) + (objectType Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20 MugType) + (objectType Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61 BowlType) + (objectType LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_20_bar__plus_02_dot_73 LightSwitchType) + (objectType Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36 MugType) + (objectType Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59 StatueType) + (objectType CD_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 CDType) + (objectType Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28 StatueType) + (objectType Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30 PenType) + (objectType Window_bar__plus_01_dot_01_bar__plus_01_dot_52_bar__minus_02_dot_09 WindowType) + (objectType Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_45 PillowType) + (objectType Pen_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_20 PenType) + (objectType KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36 KeyChainType) + (objectType AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63 AlarmClockType) + (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_01_dot_40_bar__plus_00_dot_99_bar__minus_01_dot_44 StatueType) + (objectType CreditCard_bar__minus_00_dot_62_bar__plus_01_dot_54_bar__minus_01_dot_55 CreditCardType) + (objectType Pencil_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_35 PencilType) + (objectType KeyChain_bar__minus_01_dot_33_bar__plus_00_dot_74_bar__minus_01_dot_26 KeyChainType) + (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_03_bar__plus_00_dot_90_bar__plus_01_dot_75) + (pickupable Pen_bar__minus_01_dot_50_bar__plus_00_dot_43_bar__minus_01_dot_35) + (pickupable AlarmClock_bar__minus_01_dot_38_bar__plus_01_dot_54_bar__minus_01_dot_51) + (pickupable Box_bar__plus_01_dot_56_bar__plus_00_dot_29_bar__minus_01_dot_07) + (pickupable CreditCard_bar__minus_00_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_69) + (pickupable Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58) + (pickupable BasketBall_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_00_dot_09) + (pickupable Pillow_bar__minus_01_dot_16_bar__plus_00_dot_95_bar__plus_02_dot_04) + (pickupable Book_bar__minus_01_dot_50_bar__plus_00_dot_10_bar__minus_01_dot_30) + (pickupable Mug_bar__minus_01_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_20) + (pickupable Bowl_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_61) + (pickupable Mug_bar__minus_01_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable Statue_bar__minus_01_dot_50_bar__plus_01_dot_53_bar__minus_01_dot_59) + (pickupable CD_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63) + (pickupable Statue_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_01_dot_28) + (pickupable Pen_bar__minus_01_dot_24_bar__plus_00_dot_10_bar__minus_01_dot_30) + (pickupable Pillow_bar__minus_01_dot_57_bar__plus_00_dot_95_bar__plus_01_dot_45) + (pickupable Pen_bar__minus_00_dot_39_bar__plus_00_dot_99_bar__minus_01_dot_20) + (pickupable KeyChain_bar__minus_00_dot_79_bar__plus_00_dot_98_bar__minus_01_dot_36) + (pickupable AlarmClock_bar__minus_00_dot_81_bar__plus_01_dot_54_bar__minus_01_dot_63) + (pickupable 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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_39_bar__plus_00_dot_99_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_24_bar__plus_00_dot_43_bar__minus_01_dot_35 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_57_bar__plus_00_dot_89_bar__plus_00_dot_58 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_04 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_61 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_69 loc_bar__minus_5_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_03_bar__plus_00_dot_90_bar__plus_01_dot_75 loc_bar__minus_1_bar_6_bar_3_bar_45) + (objectAtLocation CD_bar__minus_01_dot_19_bar__plus_01_dot_54_bar__minus_01_dot_63 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_51 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_60_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_40_bar__plus_00_dot_99_bar__minus_01_dot_44 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 (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 AlarmClockType) + (receptacleType ?r DeskType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 AlarmClockType) + (receptacleType ?r DeskType) + (inReceptacle ?o2 ?r) + 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"objectName": "CellPhone_6e288678", + "position": { + "x": -1.02676511, + "y": 0.896932244, + "z": 1.746681 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_dc6e6a5d", + "position": { + "x": -1.19188428, + "y": 1.5361321, + "z": -1.63214469 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_8fa1421f", + "position": { + "x": -0.8113139, + "y": 1.5370717, + "z": -1.63214469 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_9c9dffb8", + "position": { + "x": -1.19809616, + "y": 0.9795, + "z": -1.20007169 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_f17ac2ff", + "position": { + "x": -1.50339, + "y": 1.528718, + "z": -1.590862 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1889412241, + "scene_num": 304 + }, + "task_id": "trial_T20190910_105949_580836", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_32Z9ZLUT1O1LXKQROYFJFKSOYMMOH8", + "high_descs": [ + "Walk to the bed then turn left and walk to the desk then take a step to your right.", + "Pick up the clock on the shelf of the desk up high to the left of the desk.", + "Take a tiny step to your right.", + "Put the clock to the right of the mug.", + "Move slightly to the right.", + "Grab the other clock that's above the one we just set down.", + "Move slightly to your left.", + "Put the clock to the right of the first one." + ], + "task_desc": "Put two clocks on the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3EJPLAJKEPXHZZKHUOZWYRA29CU6ZC", + "high_descs": [ + "Move to stand in front of the desk. ", + "Pick up the leftmost clock on the top shelf of the desk. ", + "Back up a step from the desk while carrying the clock, but end still facing the desk.", + "Place the clock on the desk between the two white mugs.", + "Move closer to the desk, so you will be able to reach the other clock on the top shelf.", + "Pick up the other clock from the top shelf of the desk.", + "Back up a step from the desk while carrying the clock.", + "Place the second clock to the right of the first one previously put there." + ], + "task_desc": "Move two clocks to the main part of the desk. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3U5JL4WY5NQEFHGOAIIW48AD5KD4XD", + "high_descs": [ + "Move to the desk to the left of the bed", + "Pick up a clock from the desk", + "Move to the right side of the desk", + "Place the clock on the desk", + "Move to the desk to the left of the bed", + "Pick up a different clock from the desk", + "Move to the right side of the desk", + "Place the clock on the desk" + ], + "task_desc": "Move two clocks on the desk to the same 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-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..42057c239110e30e4f3379bd1cdc4345ad4c5437 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/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 remotecontrol 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_T20190907_195427_201890)\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_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04 - object\n Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06 - object\n Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14 - object\n Candle_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57 - object\n Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 - object\n Candle_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_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_60_bar__plus_00_dot_33_bar__plus_04_dot_58 - 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_01_dot_55_bar__plus_00_dot_46_bar__plus_06_dot_14 - object\n KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35 - object\n KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_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_78_bar__plus_00_dot_45_bar__plus_05_dot_55 - object\n Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_75 - 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_02_dot_05_bar__plus_00_dot_78_bar__plus_01_dot_75 - object\n Newspaper_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_22 - 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_78_bar__plus_00_dot_52_bar__plus_06_dot_44 - object\n Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82 - object\n RemoteControl_bar__minus_03_dot_23_bar__plus_00_dot_46_bar__plus_06_dot_56 - object\n RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 - object\n RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_53 - 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_16_bar__plus_00_dot_79_bar__plus_02_dot_37 - object\n Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 - object\n TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 - object\n TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_53 - object\n Watch_bar__minus_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43 - object\n Watch_bar__minus_03_dot_61_bar__plus_00_dot_53_bar__plus_08_dot_41 - 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_4_bar_25_bar_3_bar_60 - 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_12_bar_22_bar_3_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 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 Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 WindowType)\n (objectType RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_53 RemoteControlType)\n (objectType Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06 BoxType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 WindowType)\n (objectType Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_bar__plus_06_dot_44 PillowType)\n (objectType Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 ChairType)\n (objectType Watch_bar__minus_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43 WatchType)\n (objectType Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04 BoxType)\n (objectType Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 TelevisionType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType)\n (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType)\n (objectType RemoteControl_bar__minus_03_dot_23_bar__plus_00_dot_46_bar__plus_06_dot_56 RemoteControlType)\n (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 ChairType)\n (objectType CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_58 CreditCardType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 WindowType)\n (objectType Candle_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57 CandleType)\n (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 ChairType)\n (objectType Newspaper_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_22 NewspaperType)\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 TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_53 TissueBoxType)\n (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType)\n (objectType KeyChain_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_06_dot_14 KeyChainType)\n (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType)\n (objectType Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_01_dot_75 NewspaperType)\n (objectType Watch_bar__minus_03_dot_61_bar__plus_00_dot_53_bar__plus_08_dot_41 WatchType)\n (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType)\n (objectType Candle_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 CandleType)\n (objectType KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_53 KeyChainType)\n (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 TissueBoxType)\n (objectType Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82 PlateType)\n (objectType RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 RemoteControlType)\n (objectType Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_05_dot_55 LaptopType)\n (objectType Statue_bar__minus_03_dot_16_bar__plus_00_dot_79_bar__plus_02_dot_37 StatueType)\n (objectType KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35 KeyChainType)\n (objectType Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_75 LaptopType)\n (objectType Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType)\n (objectType Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14 BoxType)\n (objectType Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 BootsType)\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_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_53)\n (pickupable Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06)\n (pickupable Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_bar__plus_06_dot_44)\n (pickupable Watch_bar__minus_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43)\n (pickupable Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04)\n (pickupable RemoteControl_bar__minus_03_dot_23_bar__plus_00_dot_46_bar__plus_06_dot_56)\n (pickupable CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_58)\n (pickupable Candle_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57)\n (pickupable Newspaper_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_22)\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 TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_53)\n (pickupable KeyChain_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_06_dot_14)\n (pickupable Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_01_dot_75)\n (pickupable Watch_bar__minus_03_dot_61_bar__plus_00_dot_53_bar__plus_08_dot_41)\n (pickupable Candle_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53)\n (pickupable KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_53)\n (pickupable TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53)\n (pickupable Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82)\n (pickupable RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68)\n (pickupable Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_05_dot_55)\n (pickupable Statue_bar__minus_03_dot_16_bar__plus_00_dot_79_bar__plus_02_dot_37)\n (pickupable KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35)\n (pickupable Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_75)\n (pickupable Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14)\n (pickupable Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82)\n (isReceptacleObject Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06)\n (isReceptacleObject Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04)\n (isReceptacleObject Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82)\n (isReceptacleObject Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14)\n \n \n (atLocation agent1 loc_bar__minus_12_bar_22_bar_3_bar_30)\n \n (cleanable Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82)\n \n (heatable Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82)\n (coolable Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82)\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 TissueBox_bar__minus_02_dot_60_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 RemoteControl_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 Statue_bar__minus_03_dot_16_bar__plus_00_dot_79_bar__plus_02_dot_37 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_75 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_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Newspaper_bar__minus_02_dot_05_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 Candle_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 Newspaper_bar__minus_02_dot_88_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 TissueBox_bar__minus_02_dot_32_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_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 Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\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 Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle RemoteControl_bar__minus_03_dot_23_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 Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_05_dot_55 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_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_58 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 KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Watch_bar__minus_03_dot_61_bar__plus_00_dot_53_bar__plus_08_dot_41 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Watch_bar__minus_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43 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_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Candle_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57 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_61_bar__plus_00_dot_53_bar__plus_08_dot_41 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Newspaper_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_22 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_75 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_03_dot_23_bar__plus_00_dot_46_bar__plus_06_dot_56 loc_bar__minus_17_bar_26_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\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_33_bar__plus_00_dot_58_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_01_dot_55_bar__plus_00_dot_46_bar__plus_06_dot_14 loc_bar__minus_4_bar_25_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_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 Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_bar__plus_06_dot_44 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_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_05_dot_55 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_02_dot_05_bar__plus_00_dot_78_bar__plus_01_dot_75 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_58 loc_bar__minus_15_bar_22_bar_2_bar_60)\n (objectAtLocation RemoteControl_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 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_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57 loc_bar__minus_5_bar_3_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_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43 loc_bar__minus_18_bar_32_bar_1_bar_45)\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_16_bar__plus_00_dot_79_bar__plus_02_dot_37 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 RemoteControlType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 RemoteControlType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take remotecontrol 3 from coffeetable 1", "go to armchair 2", "move remotecontrol 3 to armchair 2", "go to diningtable 1", "take remotecontrol 2 from diningtable 1", "go to armchair 2", "move remotecontrol 2 to armchair 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..12e558bfdb61a7dce03775507e9096b82ae9ea87 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/initial_state.pddl @@ -0,0 +1,571 @@ + +(define (problem plan_trial_T20190907_195427_201890) +(: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_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04 - object + Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06 - object + Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14 - object + Candle_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57 - object + Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 - object + Candle_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_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_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_58 - 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_01_dot_55_bar__plus_00_dot_46_bar__plus_06_dot_14 - object + KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35 - object + KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_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_78_bar__plus_00_dot_45_bar__plus_05_dot_55 - object + Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_75 - 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_02_dot_05_bar__plus_00_dot_78_bar__plus_01_dot_75 - object + Newspaper_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_22 - object + Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 - object + Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_bar__plus_06_dot_44 - object + Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82 - object + RemoteControl_bar__minus_03_dot_23_bar__plus_00_dot_46_bar__plus_06_dot_56 - object + RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 - object + RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_53 - object + Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 - object + Statue_bar__minus_03_dot_16_bar__plus_00_dot_79_bar__plus_02_dot_37 - object + Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 - object + TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 - object + TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_53 - object + Watch_bar__minus_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43 - object + Watch_bar__minus_03_dot_61_bar__plus_00_dot_53_bar__plus_08_dot_41 - 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_4_bar_25_bar_3_bar_60 - 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_12_bar_22_bar_3_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 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 Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 WindowType) + (objectType RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_53 RemoteControlType) + (objectType Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06 BoxType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 WindowType) + (objectType Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_bar__plus_06_dot_44 PillowType) + (objectType Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 ChairType) + (objectType Watch_bar__minus_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43 WatchType) + (objectType Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04 BoxType) + (objectType Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 TelevisionType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType) + (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType) + (objectType RemoteControl_bar__minus_03_dot_23_bar__plus_00_dot_46_bar__plus_06_dot_56 RemoteControlType) + (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 ChairType) + (objectType CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_58 CreditCardType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 WindowType) + (objectType Candle_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57 CandleType) + (objectType Chair_bar__minus_03_dot_33_bar__plus_00_dot_01_bar__plus_01_dot_70 ChairType) + (objectType Newspaper_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_22 NewspaperType) + (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 TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_53 TissueBoxType) + (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType) + (objectType KeyChain_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_06_dot_14 KeyChainType) + (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType) + (objectType Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_01_dot_75 NewspaperType) + (objectType Watch_bar__minus_03_dot_61_bar__plus_00_dot_53_bar__plus_08_dot_41 WatchType) + (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType) + (objectType Candle_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53 CandleType) + (objectType KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_53 KeyChainType) + (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 TissueBoxType) + (objectType Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82 PlateType) + (objectType RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68 RemoteControlType) + (objectType Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_05_dot_55 LaptopType) + (objectType Statue_bar__minus_03_dot_16_bar__plus_00_dot_79_bar__plus_02_dot_37 StatueType) + (objectType KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35 KeyChainType) + (objectType Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_75 LaptopType) + (objectType Window_bar__minus_04_dot_86_bar__plus_01_dot_20_bar__minus_00_dot_16 WindowType) + (objectType Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14 BoxType) + (objectType Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82 BootsType) + (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_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_53) + (pickupable Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06) + (pickupable Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_bar__plus_06_dot_44) + (pickupable Watch_bar__minus_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43) + (pickupable Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04) + (pickupable RemoteControl_bar__minus_03_dot_23_bar__plus_00_dot_46_bar__plus_06_dot_56) + (pickupable CreditCard_bar__minus_03_dot_60_bar__plus_00_dot_33_bar__plus_04_dot_58) + (pickupable Candle_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57) + (pickupable Newspaper_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_22) + (pickupable Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44) + (pickupable Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29) + (pickupable TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_53) + (pickupable KeyChain_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_06_dot_14) + (pickupable Newspaper_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_01_dot_75) + (pickupable Watch_bar__minus_03_dot_61_bar__plus_00_dot_53_bar__plus_08_dot_41) + (pickupable Candle_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_53) + (pickupable KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_53) + (pickupable TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53) + (pickupable Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82) + (pickupable RemoteControl_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_02_dot_68) + (pickupable Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_05_dot_55) + (pickupable Statue_bar__minus_03_dot_16_bar__plus_00_dot_79_bar__plus_02_dot_37) + (pickupable KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35) + (pickupable Laptop_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_01_dot_75) + (pickupable Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14) + (pickupable Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82) + (isReceptacleObject Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06) + (isReceptacleObject Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04) + (isReceptacleObject Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82) + (isReceptacleObject Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14) + + + (atLocation agent1 loc_bar__minus_12_bar_22_bar_3_bar_30) + + (cleanable Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82) + + (heatable Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82) + (coolable Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82) + + + (toggleable FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53) + + + + + (inReceptacle TissueBox_bar__minus_02_dot_60_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 RemoteControl_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 Statue_bar__minus_03_dot_16_bar__plus_00_dot_79_bar__plus_02_dot_37 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_75 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_53 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Newspaper_bar__minus_02_dot_05_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 Candle_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 Newspaper_bar__minus_02_dot_88_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 TissueBox_bar__minus_02_dot_32_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_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 Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (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 Box_bar__minus_03_dot_33_bar__plus_00_dot_58_bar__plus_06_dot_14 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle RemoteControl_bar__minus_03_dot_23_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 Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_05_dot_55 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_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_58 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 KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Watch_bar__minus_03_dot_61_bar__plus_00_dot_53_bar__plus_08_dot_41 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Watch_bar__minus_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43 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_53 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Candle_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57 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_61_bar__plus_00_dot_53_bar__plus_08_dot_41 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation RemoteControl_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Newspaper_bar__minus_02_dot_88_bar__plus_00_dot_78_bar__plus_02_dot_22 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_75 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation TissueBox_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_02_dot_65_bar__plus_00_dot_54_bar__plus_08_dot_35 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_06 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Box_bar__minus_01_dot_85_bar__plus_00_dot_58_bar__plus_07_dot_04 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_23_bar__plus_00_dot_46_bar__plus_06_dot_56 loc_bar__minus_17_bar_26_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_01_bar__plus_00_dot_54_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (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_33_bar__plus_00_dot_58_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_01_dot_55_bar__plus_00_dot_46_bar__plus_06_dot_14 loc_bar__minus_4_bar_25_bar_3_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_69_bar__plus_00_dot_79_bar__plus_01_dot_82 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Candle_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 Pillow_bar__minus_01_dot_78_bar__plus_00_dot_52_bar__plus_06_dot_44 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_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_05_dot_55 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_02_dot_05_bar__plus_00_dot_78_bar__plus_01_dot_75 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_58 loc_bar__minus_15_bar_22_bar_2_bar_60) + (objectAtLocation RemoteControl_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 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_00_dot_41_bar__plus_00_dot_68_bar__plus_00_dot_57 loc_bar__minus_5_bar_3_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_03_dot_19_bar__plus_00_dot_53_bar__plus_08_dot_43 loc_bar__minus_18_bar_32_bar_1_bar_45) + (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_16_bar__plus_00_dot_79_bar__plus_02_dot_37 loc_bar__minus_6_bar_9_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 RemoteControlType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 RemoteControlType) + (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-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0c3f39bd072c71d1fce07595353bc0b2333e2d9e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195427_201890/traj_data.json @@ -0,0 +1,5034 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", 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and turn around again to face the coffee table.", + "Pick up the remote from the middle of the coffee table.", + "Turn left, then turn right and walk until you get to the chair nearest the end of the rug.", + "Place the remote on the chair.", + "Walk around the chair to get to the dining table behind it.", + "Pick up the remote to the left of the other remote on the table.", + "Walk back to face the chair where you put the first remote.", + "Place the remote to the left of the other on on the chair." + ], + "task_desc": "Place two remotes on a chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1S1K7134S2VUC_3E13VNJ1NQC0XNUAOEZT30GV5OZI1G", + "high_descs": [ + "Turn left, move to in front of the coffee table, near the plant.", + "Pick up the remote on the coffee table.", + "Turn left, move to in front of the right hand chair.", + "Put the remote on the chair, right of the credit card.", + "Turn right, move to the table, move to near the two remote controls.", + "Pick up the remote on the table, nearest the dog statue, nearest the candle.", + "Turn left, move to in front of the right hand chair.", + "Put the remote on the chair, left of the other remote." + ], + "task_desc": "Place two remote controls onto a chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3M23Y66PO5OKYNY3ZW5O2YDZMYHS6I", + "high_descs": [ + "Turn around and walk over to the couch, then turn left and start walking across the room, turn left to face the coffee table.", + "Pick up the remote off of the coffee table.", + "Turn left and walk over to the chair, the turn right ad walk towards the fireplace, turn left to face the chair closest to the fireplace.", + "Put the remote on the seat of the chair in front of you.", + "Turn right and walk forward, then hang a left and walk over to the end of the large wooden table.", + "Pick up the remote that is closest to the silver statue on the table.", + "Turn left and walk over the chair with the remote and credit card on its seat.", + "Put the remote on the seat of the chair." + ], + "task_desc": "Move two remotes to a chair seat.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5102e43aea3659a5349e7fff006d7032ad05bb5e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/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 remotecontrol 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_T20190907_195504_051852)\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_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33 - object\n Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_22 - object\n Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 - object\n Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18 - object\n Candle_bar__minus_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32 - 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_81_bar__plus_00_dot_53_bar__plus_08_dot_35 - object\n CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_53 - object\n CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58 - 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_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 - object\n KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74 - object\n KeyChain_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_22 - 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_78_bar__plus_00_dot_45_bar__plus_06_dot_44 - 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_78_bar__plus_00_dot_45_bar__plus_06_dot_14 - object\n Newspaper_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_22 - 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_05_bar__plus_00_dot_80_bar__plus_01_dot_75 - object\n Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75 - object\n RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_22 - object\n RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_14 - object\n RemoteControl_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60 - object\n RemoteControl_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_53 - object\n Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68 - object\n Statue_bar__minus_03_dot_43_bar__plus_00_dot_47_bar__plus_06_dot_97 - object\n Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_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_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_68 - object\n Watch_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 - object\n Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43 - object\n Watch_bar__minus_03_dot_33_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_16_bar_31_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 Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 PillowType)\n (objectType RemoteControl_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60 RemoteControlType)\n (objectType CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58 CreditCardType)\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 Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 WindowType)\n (objectType Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_bar__plus_02_dot_06 StatueType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 WindowType)\n (objectType Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75 PlateType)\n (objectType Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68 StatueType)\n (objectType Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 ChairType)\n (objectType Watch_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 WatchType)\n (objectType Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 TelevisionType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType)\n (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType)\n (objectType Statue_bar__minus_03_dot_43_bar__plus_00_dot_47_bar__plus_06_dot_97 StatueType)\n (objectType Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75 PlateType)\n (objectType Candle_bar__minus_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32 CandleType)\n (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 ChairType)\n (objectType Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18 CandleType)\n (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 WindowType)\n (objectType Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33 BoxType)\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 KeyChain_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_22 KeyChainType)\n (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_68 TissueBoxType)\n (objectType CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_53 CreditCardType)\n (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType)\n (objectType RemoteControl_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_53 RemoteControlType)\n (objectType Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43 WatchType)\n (objectType RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_22 RemoteControlType)\n (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType)\n (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType)\n (objectType RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_14 RemoteControlType)\n (objectType Watch_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_56 WatchType)\n (objectType Newspaper_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 NewspaperType)\n (objectType KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74 KeyChainType)\n (objectType Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_44 LaptopType)\n (objectType Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_22 BoxType)\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 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 CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_35 CreditCardType)\n (objectType Newspaper_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_22 NewspaperType)\n (objectType KeyChain_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 KeyChainType)\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 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(cleanable Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75)\n (cleanable Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75)\n \n (heatable Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75)\n (heatable Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75)\n (coolable Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75)\n (coolable Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75)\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 Newspaper_bar__minus_02_dot_60_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 RemoteControl_bar__minus_02_dot_32_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_05_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 Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_bar__plus_02_dot_06 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle Watch_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 Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23)\n (inReceptacle KeyChain_bar__minus_03_dot_16_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 TissueBox_bar__minus_02_dot_32_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 Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18 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_14 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60)\n (inReceptacle Statue_bar__minus_03_dot_43_bar__plus_00_dot_47_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_33_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_78_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 Newspaper_bar__minus_01_dot_78_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 KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58 ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56)\n (inReceptacle KeyChain_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_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle RemoteControl_bar__minus_03_dot_26_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_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60 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 CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_35 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle CreditCard_bar__minus_02_dot_81_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 \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 Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Watch_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 RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Newspaper_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation RemoteControl_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_35 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43 loc_bar__minus_18_bar_32_bar_1_bar_45)\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_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_22 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_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 Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18 loc_bar__minus_17_bar_26_bar_1_bar_60)\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_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Laptop_bar__minus_01_dot_78_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_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58 loc_bar__minus_15_bar_22_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_14 loc_bar__minus_17_bar_26_bar_1_bar_60)\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_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_bar__plus_02_dot_06 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_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_56 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_43_bar__plus_00_dot_47_bar__plus_06_dot_97 loc_bar__minus_17_bar_26_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 RemoteControlType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 RemoteControlType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take remotecontrol 3 from coffeetable 1", "go to armchair 2", "move remotecontrol 3 to armchair 2", "go to coffeetable 2", "take remotecontrol 2 from coffeetable 2", "go to armchair 2", "move remotecontrol 2 to armchair 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ea657216c4490c3975fa67063c3fe73473ab9ef9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/initial_state.pddl @@ -0,0 +1,589 @@ + +(define (problem plan_trial_T20190907_195504_051852) +(: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_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33 - object + Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_22 - object + Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 - object + Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18 - object + Candle_bar__minus_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32 - 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_81_bar__plus_00_dot_53_bar__plus_08_dot_35 - object + CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_53 - object + CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58 - 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_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 - object + KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74 - object + KeyChain_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_22 - 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_78_bar__plus_00_dot_45_bar__plus_06_dot_44 - 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_78_bar__plus_00_dot_45_bar__plus_06_dot_14 - object + Newspaper_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_22 - 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_05_bar__plus_00_dot_80_bar__plus_01_dot_75 - object + Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75 - object + RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_22 - object + RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_14 - object + RemoteControl_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60 - object + RemoteControl_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_53 - object + Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68 - object + Statue_bar__minus_03_dot_43_bar__plus_00_dot_47_bar__plus_06_dot_97 - object + Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_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_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_68 - object + Watch_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 - object + Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43 - object + Watch_bar__minus_03_dot_33_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_16_bar_31_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 Pillow_bar__minus_01_dot_72_bar__plus_00_dot_52_bar__plus_05_dot_73 PillowType) + (objectType RemoteControl_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60 RemoteControlType) + (objectType CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58 CreditCardType) + (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 Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_06_dot_90 WindowType) + (objectType Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_bar__plus_02_dot_06 StatueType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_04_dot_92 WindowType) + (objectType Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75 PlateType) + (objectType Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68 StatueType) + (objectType Chair_bar__minus_02_dot_35_bar__plus_00_dot_01_bar__plus_02_dot_75 ChairType) + (objectType Watch_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06 WatchType) + (objectType Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 TelevisionType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType) + (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType) + (objectType Statue_bar__minus_03_dot_43_bar__plus_00_dot_47_bar__plus_06_dot_97 StatueType) + (objectType Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75 PlateType) + (objectType Candle_bar__minus_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32 CandleType) + (objectType Chair_bar__minus_02_dot_48_bar__plus_00_dot_01_bar__plus_01_dot_63 ChairType) + (objectType Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18 CandleType) + (objectType Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_01_dot_09 WindowType) + (objectType Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33 BoxType) + (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 KeyChain_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_22 KeyChainType) + (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_68 TissueBoxType) + (objectType CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_53 CreditCardType) + (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType) + (objectType RemoteControl_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_53 RemoteControlType) + (objectType Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43 WatchType) + (objectType RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_22 RemoteControlType) + (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType) + (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType) + (objectType RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_14 RemoteControlType) + (objectType Watch_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_56 WatchType) + (objectType Newspaper_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 NewspaperType) + (objectType KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74 KeyChainType) + (objectType Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_44 LaptopType) + (objectType Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_22 BoxType) + (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 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 CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_35 CreditCardType) + (objectType Newspaper_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_22 NewspaperType) + (objectType KeyChain_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 KeyChainType) + (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 RemoteControl_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60) + (pickupable CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58) + (pickupable Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_bar__plus_02_dot_06) + (pickupable Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75) + (pickupable Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68) + (pickupable Watch_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_06) + (pickupable Statue_bar__minus_03_dot_43_bar__plus_00_dot_47_bar__plus_06_dot_97) + (pickupable Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75) + (pickupable Candle_bar__minus_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32) + (pickupable Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18) + (pickupable Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33) + (pickupable Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44) + (pickupable KeyChain_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_22) + (pickupable TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_68) + (pickupable CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_53) + (pickupable RemoteControl_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_53) + (pickupable Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43) + (pickupable RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_22) + (pickupable RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_14) + (pickupable Watch_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_56) + (pickupable Newspaper_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14) + (pickupable KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74) + (pickupable Laptop_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_44) + (pickupable Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_22) + (pickupable Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82) + (pickupable CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_35) + (pickupable Newspaper_bar__minus_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_22) + (pickupable KeyChain_bar__minus_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45) + (isReceptacleObject Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75) + (isReceptacleObject Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75) + (isReceptacleObject Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33) + (isReceptacleObject Box_bar__minus_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_22) + + + (atLocation agent1 loc_bar__minus_16_bar_31_bar_1_bar_30) + + (cleanable Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75) + (cleanable Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75) + + (heatable Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75) + (heatable Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75) + (coolable Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75) + (coolable Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75) + + + (toggleable FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53) + + + + + (inReceptacle Newspaper_bar__minus_02_dot_60_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 RemoteControl_bar__minus_02_dot_32_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_05_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 Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_bar__plus_02_dot_06 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Watch_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 Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle KeyChain_bar__minus_03_dot_16_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 TissueBox_bar__minus_02_dot_32_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 Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18 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_14 CoffeeTable_bar__minus_03_dot_24_bar__plus_00_dot_01_bar__plus_06_dot_60) + (inReceptacle Statue_bar__minus_03_dot_43_bar__plus_00_dot_47_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_33_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_78_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 Newspaper_bar__minus_01_dot_78_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 KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58 ArmChair_bar__minus_03_dot_66_bar__plus_00_dot_00_bar__plus_04_dot_56) + (inReceptacle KeyChain_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_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle RemoteControl_bar__minus_03_dot_26_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_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60 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 CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_35 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle CreditCard_bar__minus_02_dot_81_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) + + + (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 Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Watch_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 RemoteControl_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Newspaper_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_05_bar__plus_00_dot_80_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_03_dot_16_bar__plus_00_dot_78_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_07_dot_33 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_97_bar__plus_00_dot_53_bar__plus_08_dot_60 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation RemoteControl_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation CreditCard_bar__minus_02_dot_81_bar__plus_00_dot_53_bar__plus_08_dot_35 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_74 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation Watch_bar__minus_03_dot_26_bar__plus_00_dot_53_bar__plus_08_dot_43 loc_bar__minus_18_bar_32_bar_1_bar_45) + (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_02_dot_05_bar__plus_00_dot_91_bar__plus_02_dot_22 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_00_dot_41_bar__plus_00_dot_68_bar__plus_08_dot_45 loc_bar__minus_5_bar_33_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_16_bar__plus_00_dot_80_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_03_dot_13_bar__plus_00_dot_46_bar__plus_07_dot_18 loc_bar__minus_17_bar_26_bar_1_bar_60) + (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_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_78_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_02_dot_60_bar__plus_00_dot_78_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_32_bar__plus_04_dot_58 loc_bar__minus_15_bar_22_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_14 loc_bar__minus_17_bar_26_bar_1_bar_60) + (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_03_dot_26_bar__plus_00_dot_54_bar__plus_08_dot_32 loc_bar__minus_18_bar_32_bar_1_bar_45) + (objectAtLocation Statue_bar__minus_03_dot_71_bar__plus_00_dot_88_bar__plus_02_dot_06 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_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_56 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_43_bar__plus_00_dot_47_bar__plus_06_dot_97 loc_bar__minus_17_bar_26_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 RemoteControlType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 RemoteControlType) + (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-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ec193e4fc4cf753e58b07797917a9c0695df0d64 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195504_051852/traj_data.json @@ -0,0 +1,5323 @@ +{ + "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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the room, then turn right and walk over to the side of the coffee table that the couch is on.", + "Pick up the remote off of the coffee table.", + "Turn left and walk over to the chair, then turn right and walk to the chair with the credit card on its seat.", + "Put the remote on the seat of the chair to the left of the credit card.", + "Turn right and take a step forward, then turn right again and walk over to the table that the television is on.", + "Pick up the leftmost remote off of the table in front of you.", + "Turn left and begin walking across the room, then hang a left and walk over to the chair with the remote and credit card on its seat.", + "Put the remote on the seat of the chair to the left of the remote that is already there." + ], + "task_desc": "Move two remotes to the seat of a chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6SR4BU227GUH_3P529IW9K12TD3WOGGBRKICHNZEFLO", + "high_descs": [ + "walk towards the couch directly ahead and face the coffee table", + "pick up the television remote from the coffee table in front of you", + "turn left, then go straight until you reach the last seat closest to the edge of the carpet", + "place the remote on the seat to the left of the card", + "walk straight in front of the coffee table, then turn right and face the television table", + "pick up the remote on the left side of the television", + "carry the remote to the seat and face the seat", + "place the remote on the seat to the left of the existing remote" + ], + "task_desc": "Place two television remote controls on a small seat", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3ZY8KE4ISMKT0XYR80ORJQEXL1GVQC", + "high_descs": [ + "Go forward to the couch, hang a right, go to the coffee table that is on the right.", + "Pick up the remote control that is on the table. ", + "Go left to the chair, hang a right, go to the brown chair with the credit card in it. ", + "Put the remote control in the chair with the credit card in it. ", + "Go to the right, then hang a right and go forward to the table with the TV on it. ", + "Pick up the remote control that is on the table.", + "Go to the left, then turn around and go to the brown chair with the credit card and remote control in it. ", + "Put the remote control in the chair on the left side of the other remote control." + ], + "task_desc": "Put two remote controls in a char. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195543_135937/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195543_135937/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..790d440d2bb235802863c1232eba6ddc37f39e49 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195543_135937/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 remotecontrol 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_T20190907_195543_135937)\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_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74 - object\n Box_bar__minus_03_dot_23_bar__plus_00_dot_59_bar__plus_06_dot_14 - 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_53_bar__plus_08_dot_32 - object\n Candle_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_91 - 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_01_dot_62_bar__plus_00_dot_45_bar__plus_06_dot_14 - object\n CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_45_bar__plus_06_dot_14 - object\n CreditCard_bar__minus_02_dot_32_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_00_dot_57_bar__plus_00_dot_68_bar__plus_08_dot_72 - object\n KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_76 - object\n KeyChain_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 - 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_05_bar__plus_00_dot_78_bar__plus_02_dot_06 - object\n Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_53 - 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_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 - 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_13_bar__plus_00_dot_55_bar__plus_08_dot_32 - object\n Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68 - object\n Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91 - object\n RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_97 - object\n RemoteControl_bar__minus_03_dot_01_bar__plus_00_dot_53_bar__plus_08_dot_53 - object\n Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_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 Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 - object\n TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 - object\n TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 - object\n TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 - object\n Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_35 - object\n Watch_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_75 - 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_16_bar_23_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 Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74 BoxType)\n (objectType Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 PaintingType)\n (objectType Box_bar__minus_03_dot_23_bar__plus_00_dot_59_bar__plus_06_dot_14 BoxType)\n (objectType Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_22 StatueType)\n (objectType FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 FloorLampType)\n (objectType Candle_bar__minus_02_dot_94_bar__plus_00_dot_53_bar__plus_08_dot_32 CandleType)\n (objectType Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_35 WatchType)\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 CreditCard_bar__minus_01_dot_62_bar__plus_00_dot_45_bar__plus_06_dot_14 CreditCardType)\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 Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType)\n (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType)\n (objectType KeyChain_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 KeyChainType)\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 Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32 PlateType)\n (objectType Watch_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_75 WatchType)\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 Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 StatueType)\n (objectType Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68 PlateType)\n (objectType CreditCard_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_91 CreditCardType)\n (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType)\n (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType)\n (objectType Candle_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_91 CandleType)\n (objectType Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91 PlateType)\n (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType)\n (objectType RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_97 RemoteControlType)\n (objectType CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_45_bar__plus_06_dot_14 CreditCardType)\n (objectType TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 TissueBoxType)\n (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 TissueBoxType)\n (objectType Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_53 LaptopType)\n (objectType TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 TissueBoxType)\n (objectType KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_68_bar__plus_08_dot_72 KeyChainType)\n (objectType KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_76 KeyChainType)\n (objectType Newspaper_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 NewspaperType)\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 RemoteControl_bar__minus_03_dot_01_bar__plus_00_dot_53_bar__plus_08_dot_53 RemoteControlType)\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 Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_06 LaptopType)\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 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KeyChain_bar__minus_02_dot_93_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 Box_bar__minus_03_dot_23_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 Watch_bar__minus_03_dot_03_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 RemoteControl_bar__minus_02_dot_93_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 TissueBox_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 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 Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45)\n (inReceptacle Newspaper_bar__minus_01_dot_78_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 CreditCard_bar__minus_01_dot_62_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 CreditCard_bar__minus_02_dot_00_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 KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_68_bar__plus_08_dot_72 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_53_bar__plus_08_dot_32 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\n (inReceptacle RemoteControl_bar__minus_03_dot_01_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 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 Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53)\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_43_bar__plus_00_dot_78_bar__plus_01_dot_75 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation RemoteControl_bar__minus_03_dot_01_bar__plus_00_dot_53_bar__plus_08_dot_53 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_45_bar__plus_06_dot_14 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_06 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation TissueBox_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 Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32 loc_bar__minus_18_bar_32_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_68_bar__plus_08_dot_72 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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_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74 loc_bar__minus_10_bar_27_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_02_dot_93_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_43_bar__plus_00_dot_80_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_94_bar__plus_00_dot_53_bar__plus_08_dot_32 loc_bar__minus_18_bar_32_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_02_dot_32_bar__plus_00_dot_78_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 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_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 loc_bar__minus_10_bar_27_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_91 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_97 loc_bar__minus_17_bar_26_bar_1_bar_60)\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_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_91 loc_bar__minus_6_bar_9_bar_3_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_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_35 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_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_22 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 RemoteControlType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 RemoteControlType)\n (receptacleType ?r ArmChairType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeetable 1", "take remotecontrol 2 from coffeetable 1", "go to armchair 2", "move remotecontrol 2 to armchair 2", "go to coffeetable 2", "take remotecontrol 1 from coffeetable 2", "go to armchair 2", "move remotecontrol 1 to armchair 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195543_135937/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195543_135937/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..606fcc29beecf27693c9e34f594169e96c9732f2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-RemoteControl-None-ArmChair-230/trial_T20190907_195543_135937/initial_state.pddl @@ -0,0 +1,593 @@ + +(define (problem plan_trial_T20190907_195543_135937) +(: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_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74 - object + Box_bar__minus_03_dot_23_bar__plus_00_dot_59_bar__plus_06_dot_14 - object + Candle_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_08_dot_44 - object + Candle_bar__minus_02_dot_94_bar__plus_00_dot_53_bar__plus_08_dot_32 - object + Candle_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_91 - 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_01_dot_62_bar__plus_00_dot_45_bar__plus_06_dot_14 - object + CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_45_bar__plus_06_dot_14 - object + CreditCard_bar__minus_02_dot_32_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_00_dot_57_bar__plus_00_dot_68_bar__plus_08_dot_72 - object + KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_76 - object + KeyChain_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 - 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_05_bar__plus_00_dot_78_bar__plus_02_dot_06 - object + Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_53 - 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_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 - 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_13_bar__plus_00_dot_55_bar__plus_08_dot_32 - object + Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68 - object + Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91 - object + RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_97 - object + RemoteControl_bar__minus_03_dot_01_bar__plus_00_dot_53_bar__plus_08_dot_53 - object + Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_22 - object + Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 - object + Television_bar__minus_03_dot_11_bar__plus_01_dot_02_bar__plus_08_dot_71 - object + TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 - object + TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 - object + TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 - object + Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_35 - object + Watch_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_75 - 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_16_bar_23_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 Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74 BoxType) + (objectType Painting_bar__minus_05_dot_96_bar__plus_01_dot_53_bar__plus_01_dot_15 PaintingType) + (objectType Box_bar__minus_03_dot_23_bar__plus_00_dot_59_bar__plus_06_dot_14 BoxType) + (objectType Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_22 StatueType) + (objectType FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53 FloorLampType) + (objectType Candle_bar__minus_02_dot_94_bar__plus_00_dot_53_bar__plus_08_dot_32 CandleType) + (objectType Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_35 WatchType) + (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 CreditCard_bar__minus_01_dot_62_bar__plus_00_dot_45_bar__plus_06_dot_14 CreditCardType) + (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 Window_bar__plus_00_dot_16_bar__plus_01_dot_20_bar__plus_02_dot_99 WindowType) + (objectType HousePlant_bar__minus_03_dot_20_bar__plus_00_dot_45_bar__plus_06_dot_80 HousePlantType) + (objectType KeyChain_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22 KeyChainType) + (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 Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32 PlateType) + (objectType Watch_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_75 WatchType) + (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 Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29 StatueType) + (objectType Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68 PlateType) + (objectType CreditCard_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_91 CreditCardType) + (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_34_bar__plus_03_dot_43 LightSwitchType) + (objectType Mirror_bar__minus_05_dot_49_bar__plus_01_dot_83_bar__plus_06_dot_51 MirrorType) + (objectType Candle_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_91 CandleType) + (objectType Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91 PlateType) + (objectType Chair_bar__minus_00_dot_33_bar__plus_00_dot_02_bar__plus_01_dot_00 ChairType) + (objectType RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_97 RemoteControlType) + (objectType CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_45_bar__plus_06_dot_14 CreditCardType) + (objectType TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31 TissueBoxType) + (objectType TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53 TissueBoxType) + (objectType Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_53 LaptopType) + (objectType TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35 TissueBoxType) + (objectType KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_68_bar__plus_08_dot_72 KeyChainType) + (objectType KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_76 KeyChainType) + (objectType Newspaper_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 NewspaperType) + (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 RemoteControl_bar__minus_03_dot_01_bar__plus_00_dot_53_bar__plus_08_dot_53 RemoteControlType) + (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 Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_06 LaptopType) + (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 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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 Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74) + (pickupable Box_bar__minus_03_dot_23_bar__plus_00_dot_59_bar__plus_06_dot_14) + (pickupable Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_22) + (pickupable Candle_bar__minus_02_dot_94_bar__plus_00_dot_53_bar__plus_08_dot_32) + (pickupable Watch_bar__minus_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_35) + (pickupable CreditCard_bar__minus_01_dot_62_bar__plus_00_dot_45_bar__plus_06_dot_14) + (pickupable KeyChain_bar__minus_03_dot_71_bar__plus_00_dot_78_bar__plus_02_dot_22) + (pickupable Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32) + (pickupable Watch_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_75) + (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 Statue_bar__minus_02_dot_71_bar__plus_00_dot_90_bar__plus_02_dot_29) + (pickupable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68) + (pickupable CreditCard_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_91) + (pickupable Candle_bar__minus_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_91) + (pickupable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91) + (pickupable RemoteControl_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_97) + (pickupable CreditCard_bar__minus_02_dot_00_bar__plus_00_dot_45_bar__plus_06_dot_14) + (pickupable TissueBox_bar__minus_05_dot_75_bar__plus_00_dot_08_bar__plus_00_dot_31) + (pickupable TissueBox_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_02_dot_53) + (pickupable Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_53) + (pickupable TissueBox_bar__minus_03_dot_33_bar__plus_00_dot_46_bar__plus_06_dot_35) + (pickupable KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_68_bar__plus_08_dot_72) + (pickupable KeyChain_bar__minus_02_dot_93_bar__plus_00_dot_46_bar__plus_06_dot_76) + (pickupable Newspaper_bar__minus_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14) + (pickupable Boots_bar__minus_05_dot_79_bar__plus_00_dot_01_bar__plus_04_dot_82) + (pickupable RemoteControl_bar__minus_03_dot_01_bar__plus_00_dot_53_bar__plus_08_dot_53) + (pickupable Laptop_bar__minus_02_dot_05_bar__plus_00_dot_78_bar__plus_02_dot_06) + (isReceptacleObject Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74) + (isReceptacleObject Box_bar__minus_03_dot_23_bar__plus_00_dot_59_bar__plus_06_dot_14) + (isReceptacleObject Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32) + (isReceptacleObject Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68) + (isReceptacleObject Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91) + + + (atLocation agent1 loc_bar__minus_16_bar_23_bar_0_bar_30) + + (cleanable Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32) + (cleanable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68) + (cleanable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91) + + (heatable Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32) + (heatable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68) + (heatable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91) + (coolable Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32) + (coolable Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68) + (coolable Plate_bar__minus_03_dot_71_bar__plus_00_dot_80_bar__plus_01_dot_91) + + + (toggleable FloorLamp_bar__minus_05_dot_65_bar__plus_00_dot_01_bar__plus_08_dot_53) + + + + + (inReceptacle CreditCard_bar__minus_02_dot_32_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_43_bar__plus_00_dot_80_bar__plus_02_dot_68 DiningTable_bar__minus_02_dot_90_bar__plus_00_dot_01_bar__plus_02_dot_23) + (inReceptacle Candle_bar__minus_03_dot_43_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 Statue_bar__minus_02_dot_60_bar__plus_00_dot_79_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_71_bar__plus_00_dot_80_bar__plus_01_dot_91 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 Watch_bar__minus_03_dot_43_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 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 TissueBox_bar__minus_02_dot_32_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_02_dot_05_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 KeyChain_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 Laptop_bar__minus_02_dot_05_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 KeyChain_bar__minus_02_dot_93_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 Box_bar__minus_03_dot_23_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 Watch_bar__minus_03_dot_03_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 RemoteControl_bar__minus_02_dot_93_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 TissueBox_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 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 Box_bar__minus_01_dot_78_bar__plus_00_dot_58_bar__plus_06_dot_74 Sofa_bar__minus_01_dot_74_bar__minus_00_dot_08_bar__plus_06_dot_45) + (inReceptacle Newspaper_bar__minus_01_dot_78_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 CreditCard_bar__minus_01_dot_62_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 CreditCard_bar__minus_02_dot_00_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 KeyChain_bar__minus_00_dot_57_bar__plus_00_dot_68_bar__plus_08_dot_72 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_53_bar__plus_08_dot_32 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (inReceptacle RemoteControl_bar__minus_03_dot_01_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 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 Plate_bar__minus_03_dot_13_bar__plus_00_dot_55_bar__plus_08_dot_32 CoffeeTable_bar__minus_03_dot_13_bar__plus_00_dot_02_bar__plus_08_dot_53) + (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 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(objectAtLocation Plate_bar__minus_03_dot_43_bar__plus_00_dot_80_bar__plus_02_dot_68 loc_bar__minus_6_bar_9_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_94_bar__plus_00_dot_53_bar__plus_08_dot_32 loc_bar__minus_18_bar_32_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_02_dot_32_bar__plus_00_dot_78_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 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_01_dot_78_bar__plus_00_dot_45_bar__plus_06_dot_14 loc_bar__minus_10_bar_27_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_32_bar__plus_00_dot_78_bar__plus_01_dot_91 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_97 loc_bar__minus_17_bar_26_bar_1_bar_60) + (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_03_dot_43_bar__plus_00_dot_78_bar__plus_01_dot_91 loc_bar__minus_6_bar_9_bar_3_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_03_dot_03_bar__plus_00_dot_46_bar__plus_06_dot_35 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_02_dot_60_bar__plus_00_dot_79_bar__plus_02_dot_22 loc_bar__minus_6_bar_9_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 RemoteControlType) + (receptacleType ?r ArmChairType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 RemoteControlType) + (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-RemoteControl-None-ArmChair-230/trial_T20190907_195543_135937/traj_data.json 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turn left, go to other side of coffee table, turn left, go to end of coffee table, turn left to face table.", + "Pick up remote control from the coffee table.", + "Turn left, go straight ahead to armchair", + "Put remote control on the armchair.", + "Turn left, turn left, go to end of coffee table, turn left, walk to round table, turn right to face table.", + "Pick up remote control from the table.", + "Turn right, turn right, \n\ngo straight ahead to armchair", + "Put the remote to the right of the other one on the armchair." + ], + "task_desc": "Put two remote controls on armchair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3G2UL9A02GVYFPEBBT7D77H3ZJ0673", + "high_descs": [ + "Walk around to stand on the other side of the coffee table and to the right so you are looking at a plant and a tv remote.", + "Pick up the remote.", + "Turn left and walk to the armchair.", + "Put the remote on the cushion.", + "Turn around and walk to the tv then take a step left.", + "Pick up the remote there.", + "Go back to where you put the first remote.", + "Put this one next to the first one." + ], + "task_desc": "Put two remotes on the chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3I7DHKZYGQHFBET3OTVK3TGK1CL5F3", + "high_descs": [ + "Move to the coffee table to the right of you", + "Pick up a remote from the table", + "Move to the arm chair closest to the couch", + "Put the remote on the arm chair", + "Move to the TV stand behind you", + "Pick up a remote from the stand", + "Move to the arm chair closest to the couch", + "Put the remote on the arm chair" + ], + "task_desc": "Put two remotes on the arm chair closest to the couch.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102210_822954/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102210_822954/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e3a2fc7efd6bffc08350a0f3473f0d5ad26a2eef --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102210_822954/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 saltshaker and put them 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_T20190908_102210_822954)\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_45_bar__plus_01_dot_37_bar__minus_02_dot_87 - object\n Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19 - object\n Bowl_bar__plus_00_dot_82_bar__plus_00_dot_34_bar__minus_01_dot_75 - object\n Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 - object\n Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51 - object\n Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 - object\n DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_46_bar__plus_00_dot_68 - object\n DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 - object\n DishSponge_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_72 - object\n Egg_bar__plus_00_dot_86_bar__plus_01_dot_25_bar__plus_01_dot_24 - object\n Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 - object\n Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_19 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__plus_01_dot_02_bar__plus_00_dot_74_bar__plus_00_dot_98 - object\n Fork_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_94 - object\n Fork_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_01_dot_68 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 - object\n Kettle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 - object\n Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_46 - object\n Knife_bar__minus_01_dot_74_bar__plus_01_dot_36_bar__minus_01_dot_12 - object\n Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74 - object\n Lettuce_bar__minus_01_dot_83_bar__plus_01_dot_14_bar__minus_00_dot_54 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 - object\n Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 - object\n Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 - object\n Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object\n Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 - object\n PaperTowelRoll_bar__plus_00_dot_94_bar__plus_01_dot_31_bar__plus_01_dot_22 - object\n PepperShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_12 - object\n PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_86 - object\n PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 - object\n Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_02_dot_06 - object\n Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__plus_00_dot_77 - object\n Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n SaltShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_23 - object\n SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_32_bar__minus_02_dot_79 - object\n SaltShaker_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 - object\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object\n SoapBottle_bar__plus_01_dot_03_bar__plus_01_dot_21_bar__plus_01_dot_22 - object\n SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_01_dot_35 - object\n SoapBottle_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_01_dot_19 - object\n Spatula_bar__plus_01_dot_03_bar__plus_01_dot_34_bar__minus_00_dot_94 - object\n Spatula_bar__minus_01_dot_65_bar__plus_01_dot_34_bar__minus_00_dot_91 - object\n Spatula_bar__minus_01_dot_95_bar__plus_01_dot_07_bar__minus_00_dot_45 - object\n Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_01_dot_68 - object\n StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__plus_01_dot_09 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n WineBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_71 - object\n WineBottle_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle\n CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle\n CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle\n GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle\n Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle\n SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar__minus_2_bar_1_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType)\n (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType)\n (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType)\n (objectType Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19 AppleType)\n (objectType DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 DishSpongeType)\n (objectType SoapBottle_bar__plus_01_dot_03_bar__plus_01_dot_21_bar__plus_01_dot_22 SoapBottleType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType DishSponge_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_72 DishSpongeType)\n (objectType Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 CupType)\n (objectType Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_19 EggType)\n (objectType Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 PotType)\n (objectType Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_46 KnifeType)\n (objectType Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51 CupType)\n (objectType Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__plus_01_dot_09 TomatoType)\n (objectType PepperShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_12 PepperShakerType)\n (objectType Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 MugType)\n (objectType Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 BreadType)\n (objectType Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 MugType)\n (objectType SaltShaker_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 SaltShakerType)\n (objectType Bowl_bar__plus_00_dot_82_bar__plus_00_dot_34_bar__minus_01_dot_75 BowlType)\n (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType)\n (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType)\n (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__plus_00_dot_77 PotatoType)\n (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Kettle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 KettleType)\n (objectType SoapBottle_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_01_dot_19 SoapBottleType)\n (objectType WineBottle_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68 WineBottleType)\n (objectType Mug_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 MugType)\n (objectType PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_86 PepperShakerType)\n (objectType PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 PepperShakerType)\n (objectType Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74 LettuceType)\n (objectType Knife_bar__minus_01_dot_74_bar__plus_01_dot_36_bar__minus_01_dot_12 KnifeType)\n (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType 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Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_19)\n (heatable Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51)\n (heatable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__plus_01_dot_09)\n (heatable Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97)\n (heatable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66)\n (heatable Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86)\n (heatable Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__plus_00_dot_77)\n (heatable Mug_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34)\n (heatable Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72)\n (heatable Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81)\n (heatable Apple_bar__minus_01_dot_45_bar__plus_01_dot_37_bar__minus_02_dot_87)\n (heatable Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_02_dot_06)\n (heatable Egg_bar__plus_00_dot_86_bar__plus_01_dot_25_bar__plus_01_dot_24)\n (coolable Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19)\n (coolable Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12)\n (coolable Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_19)\n (coolable Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (coolable Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51)\n (coolable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__plus_01_dot_09)\n (coolable Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97)\n (coolable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66)\n (coolable Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86)\n (coolable Bowl_bar__plus_00_dot_82_bar__plus_00_dot_34_bar__minus_01_dot_75)\n (coolable Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__plus_00_dot_77)\n (coolable WineBottle_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68)\n (coolable Mug_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34)\n (coolable Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74)\n (coolable Lettuce_bar__minus_01_dot_83_bar__plus_01_dot_14_bar__minus_00_dot_54)\n (coolable WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09)\n (coolable Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04)\n (coolable Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72)\n (coolable Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45)\n (coolable Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81)\n (coolable Apple_bar__minus_01_dot_45_bar__plus_01_dot_37_bar__minus_02_dot_87)\n (coolable Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_02_dot_06)\n (coolable Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (coolable WineBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_71)\n (coolable Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30)\n (coolable Egg_bar__plus_00_dot_86_bar__plus_01_dot_25_bar__plus_01_dot_24)\n \n \n \n \n \n (sliceable Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19)\n (sliceable Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_19)\n (sliceable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__plus_01_dot_09)\n (sliceable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66)\n (sliceable Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__plus_00_dot_77)\n (sliceable Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74)\n (sliceable Lettuce_bar__minus_01_dot_83_bar__plus_01_dot_14_bar__minus_00_dot_54)\n (sliceable Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81)\n (sliceable Apple_bar__minus_01_dot_45_bar__plus_01_dot_37_bar__minus_02_dot_87)\n (sliceable Egg_bar__plus_00_dot_86_bar__plus_01_dot_25_bar__plus_01_dot_24)\n \n (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)\n (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_86 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle WineBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_71 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Bowl_bar__plus_00_dot_82_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)\n (inReceptacle Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_02_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle DishSponge_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_46 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PepperShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__minus_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)\n (inReceptacle SaltShaker_bar__plus_01_dot_03_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)\n (inReceptacle Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__plus_00_dot_77 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Kettle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle WineBottle_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Mug_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_32_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spatula_bar__plus_01_dot_03_bar__plus_01_dot_34_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Fork_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Apple_bar__minus_01_dot_45_bar__plus_01_dot_37_bar__minus_02_dot_87 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Fork_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Kettle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle Fork_bar__plus_01_dot_02_bar__plus_00_dot_74_bar__plus_00_dot_98 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02)\n (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)\n (inReceptacle PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (inReceptacle Egg_bar__plus_00_dot_86_bar__plus_01_dot_25_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle SoapBottle_bar__plus_01_dot_03_bar__plus_01_dot_21_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_94_bar__plus_01_dot_31_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle DishSponge_bar__plus_00_dot_86_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)\n (inReceptacle Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Spatula_bar__minus_01_dot_95_bar__plus_01_dot_07_bar__minus_00_dot_45 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_01_dot_83_bar__plus_01_dot_14_bar__minus_00_dot_54 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30)\n (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_65_bar__plus_01_dot_34_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_83_bar__plus_01_dot_14_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation Kettle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_46 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_32_bar__minus_02_dot_79 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__plus_01_dot_03_bar__plus_01_dot_21_bar__plus_01_dot_22 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_86_bar__plus_01_dot_25_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (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)\n (objectAtLocation Spatula_bar__minus_01_dot_95_bar__plus_01_dot_07_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_71 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 loc_bar__minus_4_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_4_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_74_bar__plus_01_dot_36_bar__minus_01_dot_12 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_82_bar__plus_00_dot_34_bar__minus_01_dot_75 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__plus_00_dot_77 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_2_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_3_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_02_bar__plus_00_dot_74_bar__plus_00_dot_98 loc_bar_0_bar_6_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_23 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_03_bar__plus_01_dot_34_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_94_bar__plus_01_dot_31_bar__plus_01_dot_22 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_02_dot_06 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_12 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_46_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_45_bar__plus_01_dot_37_bar__minus_02_dot_87 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_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 SaltShakerType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SaltShakerType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take saltshaker 3 from countertop 1", "go to cabinet 1", "open cabinet 1", "move saltshaker 3 to cabinet 1", "go to countertop 1", "take saltshaker 2 from countertop 1", "go to cabinet 1", "move saltshaker 2 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102210_822954/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102210_822954/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..136048e6ec9dfffdeb2cb20760f8240acccb4046 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102210_822954/initial_state.pddl @@ -0,0 +1,944 @@ + +(define (problem plan_trial_T20190908_102210_822954) +(: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_45_bar__plus_01_dot_37_bar__minus_02_dot_87 - object + Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19 - object + Bowl_bar__plus_00_dot_82_bar__plus_00_dot_34_bar__minus_01_dot_75 - 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__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_02_dot_72 - object + Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + Cup_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_12 - object + DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_46_bar__plus_00_dot_68 - object + DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 - object + DishSponge_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_72 - object + Egg_bar__plus_00_dot_86_bar__plus_01_dot_25_bar__plus_01_dot_24 - object + Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 - object + Egg_bar__minus_01_dot_83_bar__plus_01_dot_37_bar__minus_01_dot_19 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_01_dot_02_bar__plus_00_dot_74_bar__plus_00_dot_98 - object + Fork_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_94 - object + Fork_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 - object + Kettle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 - object + Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_46 - object + Knife_bar__minus_01_dot_74_bar__plus_01_dot_36_bar__minus_01_dot_12 - object + Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74 - object + Lettuce_bar__minus_01_dot_83_bar__plus_01_dot_14_bar__minus_00_dot_54 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 - object + Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 - object + Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object + Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 - object + PaperTowelRoll_bar__plus_00_dot_94_bar__plus_01_dot_31_bar__plus_01_dot_22 - object + PepperShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_12 - object + PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 - object + Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_02_dot_06 - object + 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Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Cup_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_00_dot_51 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle Bowl_bar__plus_00_dot_82_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 Plate_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_02_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle DishSponge_bar__minus_01_dot_79_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 Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_46 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle PepperShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_12 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 SaltShaker_bar__plus_01_dot_03_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 Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__plus_00_dot_77 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Kettle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle WineBottle_bar__minus_01_dot_92_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 Mug_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Lettuce_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_01_dot_74 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle WineBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SaltShaker_bar__plus_00_dot_90_bar__plus_01_dot_32_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle 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 Spatula_bar__plus_01_dot_03_bar__plus_01_dot_34_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle SaltShaker_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Pan_bar__minus_01_dot_92_bar__plus_01_dot_32_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__minus_01_dot_53_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 Apple_bar__minus_01_dot_45_bar__plus_01_dot_37_bar__minus_02_dot_87 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Fork_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Spoon_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Cup_bar__minus_01_dot_53_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 Kettle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle DishSponge_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31) + (inReceptacle Fork_bar__plus_01_dot_02_bar__plus_00_dot_74_bar__plus_00_dot_98 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 PepperShaker_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43) + (inReceptacle SoapBottle_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22) + (inReceptacle Egg_bar__plus_00_dot_86_bar__plus_01_dot_25_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle SoapBottle_bar__plus_01_dot_03_bar__plus_01_dot_21_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_94_bar__plus_01_dot_31_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle DishSponge_bar__plus_00_dot_86_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 Pot_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97) + (inReceptacle Egg_bar__plus_01_dot_21_bar__plus_01_dot_35_bar__plus_00_dot_81 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (inReceptacle Mug_bar__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85) + (inReceptacle Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Spatula_bar__minus_01_dot_95_bar__plus_01_dot_07_bar__minus_00_dot_45 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin) + (inReceptacle Lettuce_bar__minus_01_dot_83_bar__plus_01_dot_14_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) + (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45) + (receptacleAtLocation 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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__plus_01_dot_21_bar__plus_01_dot_31_bar__plus_00_dot_97 loc_bar_1_bar_3_bar_1_bar_30) + (objectAtLocation Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation PepperShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_6_bar_3_bar_45) + (objectAtLocation Spatula_bar__minus_01_dot_65_bar__plus_01_dot_34_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation Lettuce_bar__minus_01_dot_83_bar__plus_01_dot_14_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + (objectAtLocation 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"rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": -1.648636, + "y": 1.343986, + "z": -0.9118071 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": 0.9443453, + "y": 1.31208539, + "z": 1.2225256 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": -1.79031563, + "y": 1.35692108, + "z": 1.094923 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": 0.900508642, + "y": 0.345585465, + "z": -2.06108117 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": -1.540819, + "y": 0.338814139, + "z": -1.86363292 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.79031563, + "y": 1.32256436, + "z": -2.72122478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": 0.5068307, + "y": 1.32412946, + "z": -1.68329394 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": -1.634, + "y": 0.32906872, + "z": 2.193 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": 1.21390235, + "y": 1.3054105, + "z": 0.9650378 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2926319468, + "scene_num": 3 + }, + "task_id": "trial_T20190908_102210_822954", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_3EF8EXOTT4M4DN0E249AGNFXCTIJ10", + "high_descs": [ + "Turn right and walk to the counter to the left of the stove. ", + "Pick up the salt shaker behind the pepper mill on the counter. ", + "Turn left and look down at the cabinet below the counter. ", + "Open the cabinet door, place the salt shaker in the cabinet, close the door. ", + "Walk up to the counter. ", + "Pick up the salt shaker on the right. ", + "Look down at the cabinet below the counter. ", + "Open the door, place the salt shaker inside the cabinet, close the door. " + ], + "task_desc": "To move two salt shakers to the cabinet below the counter. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3ZSANO2JCIYO25DCWXX9XQAE9MISFU", + "high_descs": [ + "Turn right and walk across the room then look up.", + "Take one of the salt shakers to the left of the stove. ", + "Turn to the right and take one step, then turn to the left to face the stove, then turn left and look down.", + "Open the cabinet directly ahead and put the salt shaker in the cabinet then close the door.", + "Look up at the counter. ", + "Take the salt shaker on the right side of the counter. ", + "Turn around and take one step, then turn around and face the counter and look down.", + "Open the cabinet directly ahead and put the salt shaker in the cabinet then close the door." + ], + "task_desc": "Put away the salt shakers.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3JC6VJ2SAEAS0CYT9LY9QEPVYM8A58", + "high_descs": [ + "Turn to your right and go to the corner counter top, to the left of the stove. ", + "Pick up the salt grinder from the counter to the left of the stove ", + "Step back from the stove and turn to your left. ", + "Place the salt grinder in the bottom cabinet, around the left corner of the stove. ", + "Step back away from the cabinet. ", + "Pick up the pepper grinder from the corner counter to the left of the stove. ", + "Move back from the counter again. ", + "Place the pepper grinder in the cabinet around the left corner, after the stove, to the left of the salt grinder. " + ], + "task_desc": "Put the salt and pepper grinders in the cabinet. ", + "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-SaltShaker-None-Cabinet-3/trial_T20190908_102252_413545/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102252_413545/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..002cfbb767e5f95886b31f83dc741e9b90be3e3e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102252_413545/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 saltshaker 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_T20190908_102252_413545)\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_24_bar__plus_01_dot_37_bar__minus_02_dot_76 - object\n Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_61 - object\n Bowl_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_42 - object\n Bowl_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_19 - object\n Bread_bar__plus_00_dot_90_bar__plus_01_dot_40_bar__minus_02_dot_42 - object\n Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_02_dot_07 - object\n Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_72 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__plus_01_dot_10_bar__plus_01_dot_75_bar__plus_02_dot_17 - object\n Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_00_dot_81 - object\n Cup_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_21 - object\n DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_74_bar__plus_00_dot_68 - object\n DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_21 - object\n Egg_bar__plus_01_dot_18_bar__plus_01_dot_35_bar__plus_01_dot_02 - object\n Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_97 - object\n Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_41 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_79 - object\n Fork_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_02_dot_05 - object\n Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_02_dot_07 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 - object\n Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_00_dot_45 - object\n Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_01_dot_68 - object\n Knife_bar__minus_01_dot_83_bar__plus_01_dot_36_bar__minus_00_dot_91 - object\n Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object\n Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_01_dot_09 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 - object\n Mug_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09 - object\n Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_63 - object\n Pan_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_05 - object\n Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_32 - object\n PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_24 - object\n Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 - object\n Potato_bar__plus_00_dot_56_bar__plus_01_dot_36_bar__minus_02_dot_68 - object\n Potato_bar__minus_01_dot_66_bar__plus_01_dot_36_bar__minus_01_dot_94 - object\n Pot_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27 - object\n SaltShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_24 - object\n 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Tomato_bar__minus_01_dot_53_bar__plus_01_dot_36_bar__plus_00_dot_45 - object\n Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_19 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle\n CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle\n CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle\n GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle\n Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle\n SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar_0_bar_0_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType)\n (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType)\n (objectType Cup_bar__plus_01_dot_10_bar__plus_01_dot_75_bar__plus_02_dot_17 CupType)\n (objectType Mug_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09 MugType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_19 TomatoType)\n (objectType WineBottle_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 WineBottleType)\n (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType)\n (objectType Fork_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_79 ForkType)\n (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType)\n (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType)\n (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Spoon_bar__minus_02_dot_02_bar__plus_01_dot_05_bar__minus_00_dot_54 SpoonType)\n (objectType SoapBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_31 SoapBottleType)\n (objectType DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_21 DishSpongeType)\n (objectType Spatula_bar__plus_00_dot_56_bar__plus_01_dot_34_bar__minus_03_dot_34 SpatulaType)\n (objectType 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EggType)\n (objectType Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_72 BreadType)\n (objectType SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_00_dot_43 SaltShakerType)\n (objectType Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_01_dot_09 LettuceType)\n (objectType Fork_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_02_dot_05 ForkType)\n (objectType Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_02_dot_07 ForkType)\n (objectType Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_63 MugType)\n (objectType Bowl_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_19 BowlType)\n (objectType Cup_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_21 CupType)\n (objectType Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_41 EggType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain SideTableType SaltShakerType)\n (canContain SideTableType BreadType)\n (canContain SideTableType DishSpongeType)\n (canContain SideTableType BowlType)\n (canContain SideTableType KettleType)\n (canContain SideTableType PotType)\n (canContain SideTableType WineBottleType)\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 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 CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\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 KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\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 GarbageCanType 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(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)\n (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_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)\n (inReceptacle Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Potato_bar__plus_00_dot_56_bar__plus_01_dot_36_bar__minus_02_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__plus_00_dot_90_bar__plus_01_dot_40_bar__minus_02_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Pan_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_05 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__minus_02_dot_46 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Apple_bar__minus_01_dot_24_bar__plus_01_dot_37_bar__minus_02_dot_76 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Tomato_bar__minus_01_dot_53_bar__plus_01_dot_36_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_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)\n (inReceptacle Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Fork_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_02_dot_05 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Fork_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)\n (inReceptacle WineBottle_bar__minus_01_dot_89_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)\n (inReceptacle DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_63 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle Bowl_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_42 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Spatula_bar__minus_01_dot_73_bar__plus_00_dot_44_bar__minus_00_dot_50 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_00_dot_43 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle SaltShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle SaltShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Cup_bar__plus_01_dot_10_bar__plus_01_dot_75_bar__plus_02_dot_17 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_97 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Egg_bar__plus_01_dot_18_bar__plus_01_dot_35_bar__plus_01_dot_02 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_00_dot_81 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_32 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_19 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_41 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n (inReceptacle Spoon_bar__minus_02_dot_02_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)\n (inReceptacle Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45)\n (receptacleAtLocation 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loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_31 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_2_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_3_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_02_dot_05 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_01_dot_10_bar__plus_01_dot_75_bar__plus_02_dot_17 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_41 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_05 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_00_dot_56_bar__plus_01_dot_34_bar__minus_03_dot_34 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_32 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_53_bar__plus_01_dot_36_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_74_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_02_bar__plus_01_dot_05_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_24_bar__plus_01_dot_37_bar__minus_02_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_63 loc_bar__minus_2_bar_7_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SaltShakerType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SaltShakerType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take saltshaker 2 from sidetable 1", "go to cabinet 1", "open cabinet 1", "move saltshaker 2 to cabinet 1", "go to sidetable 1", "take saltshaker 1 from sidetable 1", "go to cabinet 1", "move saltshaker 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102252_413545/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102252_413545/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..361650970dd30eaf83e08ece14ae7f89c08e6fe1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102252_413545/initial_state.pddl @@ -0,0 +1,935 @@ + +(define (problem plan_trial_T20190908_102252_413545) +(: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_24_bar__plus_01_dot_37_bar__minus_02_dot_76 - object + Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + Bowl_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_42 - object + Bowl_bar__minus_02_dot_09_bar__plus_01_dot_33_bar__minus_01_dot_19 - object + Bread_bar__plus_00_dot_90_bar__plus_01_dot_40_bar__minus_02_dot_42 - object + Bread_bar__minus_01_dot_40_bar__plus_01_dot_40_bar__plus_02_dot_07 - object + Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__minus_02_dot_72 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_01_dot_10_bar__plus_01_dot_75_bar__plus_02_dot_17 - object + Cup_bar__plus_01_dot_18_bar__plus_01_dot_31_bar__plus_00_dot_81 - object + Cup_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_21 - object + DishSponge_bar__plus_01_dot_03_bar__plus_00_dot_74_bar__plus_00_dot_68 - object + DishSponge_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_21 - object + Egg_bar__plus_01_dot_18_bar__plus_01_dot_35_bar__plus_01_dot_02 - object + Egg_bar__plus_01_dot_25_bar__plus_01_dot_35_bar__plus_00_dot_97 - object + Egg_bar__minus_01_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_79 - object + Fork_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_02_dot_05 - object + Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_02_dot_07 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_00_dot_45 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__minus_01_dot_68 - object + Knife_bar__minus_01_dot_83_bar__plus_01_dot_36_bar__minus_00_dot_91 - object + Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object + Lettuce_bar__minus_02_dot_05_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_97_bar__plus_01_dot_37_bar__minus_01_dot_53 - object + Mug_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09 - object + Mug_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_63 - object + Pan_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_05 - object + Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + PaperTowelRoll_bar__minus_01_dot_61_bar__plus_00_dot_38_bar__plus_02_dot_32 - object + PepperShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_24 - object + Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 - object + Potato_bar__plus_00_dot_56_bar__plus_01_dot_36_bar__minus_02_dot_68 - object + Potato_bar__minus_01_dot_66_bar__plus_01_dot_36_bar__minus_01_dot_94 - object + Pot_bar__plus_00_dot_98_bar__plus_00_dot_35_bar__minus_02_dot_27 - object + SaltShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_24 - object + SaltShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 - object + SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_00_dot_43 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_31 - object + Spatula_bar__plus_00_dot_56_bar__plus_01_dot_34_bar__minus_03_dot_34 - object + Spatula_bar__minus_01_dot_66_bar__plus_01_dot_34_bar__minus_02_dot_46 - object + Spatula_bar__minus_01_dot_73_bar__plus_00_dot_44_bar__minus_00_dot_50 - object + Spoon_bar__minus_02_dot_02_bar__plus_01_dot_05_bar__minus_00_dot_54 - 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_53_bar__plus_01_dot_36_bar__plus_00_dot_45 - object + Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_19 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle + CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle + CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle + GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle + Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle + SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar_3_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar_6_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar_0_bar_0_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 Cup_bar__plus_01_dot_10_bar__plus_01_dot_75_bar__plus_02_dot_17 CupType) + (objectType Mug_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_03_dot_09 MugType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Tomato_bar__minus_01_dot_66_bar__plus_00_dot_31_bar__plus_02_dot_19 TomatoType) + (objectType WineBottle_bar__minus_01_dot_89_bar__plus_00_dot_34_bar__plus_01_dot_11 WineBottleType) + 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"y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_61df51be", + "position": { + "x": -2.04982138, + "y": 1.32354856, + "z": 2.069365 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_f306e730", + "position": { + "x": 1.18117571, + "y": 1.30780816, + "z": 0.8104658 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Kettle_299f2c2a", + "position": { + "x": -1.691, + "y": 1.31039894, + "z": -3.156 + }, + "rotation": { + "x": 0.0, + "y": 150.0004, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c718722", + "position": { + "x": 1.24662852, + "y": 1.351235, + "z": 0.965037763 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pan_9d168802", + "position": { + "x": -0.6309, + "y": 1.3317, + "z": -3.3019 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": 1.19326913, + "y": 1.2028, + "z": 1.23849058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_560d3534", + "position": { + "x": -1.88644969, + "y": 0.3447429, + "z": 1.11066759 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": -1.89178538, + "y": 1.40042818, + "z": -1.07344282 + }, + "rotation": { + "x": 1.01721191, + "y": 359.7056, + "z": 355.727142 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": -1.73021924, + "y": 0.4350211, + "z": -0.495633543 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": -1.61049628, + "y": 0.3844704, + "z": 2.316678 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": -1.6575036, + "y": 0.314106047, + "z": 2.193 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": -1.46700084, + "y": 1.31149089, + "z": 0.244000778 + }, + "rotation": { + "x": 0.00056348223, + "y": 0.000217309673, + "z": -0.004211988 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": 0.8613707, + "y": 1.2028, + "z": 1.23849058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.75051689, + "y": 0.343378425, + "z": 1.21397424 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -2.018657, + "y": 1.05333948, + "z": -0.542232633 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": -1.23730922, + "y": 1.37188375, + "z": -2.76001024 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": -1.4514004, + "y": 1.318, + "z": -3.09262371 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4272620116, + "scene_num": 3 + }, + "task_id": "trial_T20190908_102252_413545", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_3GS6S824STOTXE72EQQN2KM8HPPNWY", + "high_descs": [ + "Turn around and walk to the counter with the microwave on it on the right. ", + "Pick up the salt shaker from the counter to the left of the microwave. ", + "Turn around and face the cabinet below the counter with the loaf of bread on it. ", + "Open the cabinet door, place the salt shaker inside the cabinet, close the door. ", + "Turn around and walk back to the counter with the microwave on it. ", + "Pick up another salt shaker to the left of the microwave. ", + "Walk back over to the cabinet below the counter. ", + "Open the cabinet door, put the salt shaker in the cabinet to the left of the first one, and close the door. " + ], + "task_desc": "To move two salt shakers to the cabinet. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3K4J6M3CXHKQG9NDQHH0UBGKOUUAGW", + "high_descs": [ + "Turn around, go forward, turn right to the left side of the dresser with the microwave.", + "Take the middle salt mill from the dresser.", + "Turn around, go forward to the counter. ", + "Put the salt mill in the bottom cabinet to the left of the green bin.", + "Turn around, go back to the dresser with the microwave.", + "Take the salt mill closest to the wall from the dresser.", + "Turn around, go forward to the counter.", + "Put the salt mill in the bottom cabinet to the left of the first salt mill." + ], + "task_desc": "Put two salt mills in a cabinet.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3WZ36BJEV67Z4OEBGVG3O5FFW63BTH", + "high_descs": [ + "Go to the microwave", + "Pick up the salt shaker in between the other two", + "Go to the cabinet on the other side", + "Put the shaker in the cabinet", + "Go to the microwave", + "Pick up the salt shaker that is farther away", + "Go to the cabinet on the other side", + "Put the shaker in the cabinet" + ], + "task_desc": "Move two salt shakers to a cabinet", + "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-SaltShaker-None-Cabinet-3/trial_T20190908_102405_454935/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102405_454935/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..69da18affc3f672ca73d3ef9c0c6772d5e84f66b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102405_454935/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 saltshaker 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_T20190908_102405_454935)\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_18_bar__plus_01_dot_36_bar__plus_00_dot_97 - object\n Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 - object\n Bowl_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_46 - object\n Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_51 - object\n Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object\n Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_45 - object\n Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_03_dot_24 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_37 - object\n Cup_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_94 - object\n Cup_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_11 - object\n DishSponge_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_05 - object\n DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_86 - object\n Egg_bar__plus_01_dot_02_bar__plus_01_dot_57_bar__plus_01_dot_60 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_36 - object\n Fork_bar__minus_01_dot_83_bar__plus_01_dot_06_bar__minus_00_dot_50 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n Kettle_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_02_dot_76 - object\n Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 - object\n Knife_bar__plus_00_dot_64_bar__plus_01_dot_35_bar__minus_00_dot_94 - object\n Knife_bar__minus_01_dot_83_bar__plus_01_dot_36_bar__minus_01_dot_26 - object\n Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__plus_01_dot_09 - object\n LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object\n Mug_bar__plus_00_dot_92_bar__plus_01_dot_52_bar__plus_01_dot_85 - object\n Mug_bar__plus_01_dot_06_bar__plus_01_dot_75_bar__plus_02_dot_17 - object\n Mug_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_61 - object\n Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_24 - object\n PepperShaker_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_27 - object\n PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_27 - object\n PepperShaker_bar__minus_01_dot_55_bar__plus_00_dot_34_bar__plus_01_dot_32 - object\n Plate_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_03_dot_31 - object\n Plate_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n Potato_bar__plus_00_dot_98_bar__plus_01_dot_99_bar__plus_01_dot_55 - object\n Pot_bar__plus_00_dot_49_bar__plus_01_dot_33_bar__minus_02_dot_79 - object\n Pot_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_96 - object\n SaltShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_22 - object\n 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Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar__minus_1_bar__minus_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType)\n (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType)\n (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType)\n (objectType Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_51 BowlType)\n (objectType Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_45 BreadType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 KettleType)\n 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(canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\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 GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType WineBottleType)\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 KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n 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Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_51 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Cup_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_11 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle SoapBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_71 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Mug_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Cup_bar__plus_00_dot_75_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)\n (inReceptacle Pot_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_96 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle PepperShaker_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_27 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_45 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__plus_00_dot_64_bar__plus_01_dot_35_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle WineBottle_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (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)\n (inReceptacle Cup_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Plate_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Kettle_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_02_dot_76 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bowl_bar__minus_01_dot_40_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)\n (inReceptacle Spatula_bar__minus_01_dot_53_bar__plus_01_dot_34_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_dot_76 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_05 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spatula_bar__minus_01_dot_79_bar__plus_01_dot_34_bar__plus_01_dot_74 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Tomato_bar__plus_01_dot_29_bar__plus_01_dot_36_bar__minus_02_dot_05 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Pot_bar__plus_00_dot_49_bar__plus_01_dot_33_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Tomato_bar__plus_00_dot_56_bar__plus_01_dot_36_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Plate_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_03_dot_24 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle WineBottle_bar__minus_01_dot_82_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)\n (inReceptacle PepperShaker_bar__minus_01_dot_55_bar__plus_00_dot_34_bar__plus_01_dot_32 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Fork_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_36 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle Spoon_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_01_dot_09 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle SaltShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle SaltShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Egg_bar__plus_01_dot_02_bar__plus_01_dot_57_bar__plus_01_dot_60 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Tomato_bar__plus_00_dot_91_bar__plus_02_dot_06_bar__plus_02_dot_29 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Potato_bar__plus_00_dot_98_bar__plus_01_dot_99_bar__plus_01_dot_55 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Mug_bar__plus_01_dot_06_bar__plus_01_dot_75_bar__plus_02_dot_17 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Mug_bar__plus_00_dot_92_bar__plus_01_dot_52_bar__plus_01_dot_85 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Apple_bar__plus_01_dot_18_bar__plus_01_dot_36_bar__plus_00_dot_97 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Spatula_bar__minus_01_dot_95_bar__plus_01_dot_07_bar__minus_00_dot_59 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_01_dot_83_bar__plus_01_dot_06_bar__minus_00_dot_50 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30)\n (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation 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loc_bar__minus_4_bar__minus_4_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_03_dot_24 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_00_dot_49_bar__plus_01_dot_33_bar__minus_02_dot_79 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_83_bar__plus_01_dot_36_bar__minus_01_dot_26 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_46 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_00_dot_98_bar__plus_01_dot_99_bar__plus_01_dot_55 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_00_dot_71 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_2_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_3_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_36 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_11 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Egg_bar__plus_01_dot_02_bar__plus_01_dot_57_bar__plus_01_dot_60 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_22 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_11 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_01_dot_53_bar__plus_01_dot_34_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_91_bar__plus_02_dot_06_bar__plus_02_dot_29 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_55_bar__plus_00_dot_34_bar__plus_01_dot_32 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_05 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_92_bar__plus_01_dot_52_bar__plus_01_dot_85 loc_bar_0_bar_8_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SaltShakerType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SaltShakerType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take saltshaker 2 from sidetable 1", "go to cabinet 1", "open cabinet 1", "move saltshaker 2 to cabinet 1", "go to sidetable 1", "take saltshaker 1 from sidetable 1", "go to cabinet 1", "move saltshaker 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102405_454935/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102405_454935/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b96f55ef54f987b5287c5ee7c0e58496a3b7c66f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Cabinet-3/trial_T20190908_102405_454935/initial_state.pddl @@ -0,0 +1,936 @@ + +(define (problem plan_trial_T20190908_102405_454935) +(: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_18_bar__plus_01_dot_36_bar__plus_00_dot_97 - object + Apple_bar__minus_01_dot_66_bar__plus_00_dot_33_bar__plus_02_dot_19 - object + Bowl_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_46 - object + Bowl_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object + Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_00_dot_45 - object + Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_03_dot_24 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_37 - object + Cup_bar__plus_01_dot_29_bar__plus_01_dot_32_bar__minus_00_dot_94 - object + Cup_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_11 - object + DishSponge_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_02_dot_05 - object + DishSponge_bar__minus_01_dot_60_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + Egg_bar__plus_01_dot_02_bar__plus_01_dot_57_bar__plus_01_dot_60 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_36 - object + Fork_bar__minus_01_dot_83_bar__plus_01_dot_06_bar__minus_00_dot_50 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Kettle_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_02_dot_76 - object + Kettle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + Knife_bar__plus_00_dot_64_bar__plus_01_dot_35_bar__minus_00_dot_94 - object + Knife_bar__minus_01_dot_83_bar__plus_01_dot_36_bar__minus_01_dot_26 - object + Lettuce_bar__minus_01_dot_53_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_92_bar__plus_01_dot_52_bar__plus_01_dot_85 - object + Mug_bar__plus_01_dot_06_bar__plus_01_dot_75_bar__plus_02_dot_17 - object + Mug_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_61 - object + Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_24 - object + PepperShaker_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_27 - object + PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_27 - object + PepperShaker_bar__minus_01_dot_55_bar__plus_00_dot_34_bar__plus_01_dot_32 - object + Plate_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_03_dot_31 - object + Plate_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + Potato_bar__plus_00_dot_98_bar__plus_01_dot_99_bar__plus_01_dot_55 - object + Pot_bar__plus_00_dot_49_bar__plus_01_dot_33_bar__minus_02_dot_79 - object + Pot_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_01_dot_96 - object + SaltShaker_bar__plus_00_dot_86_bar__plus_01_dot_20_bar__plus_01_dot_22 - object + SaltShaker_bar__plus_01_dot_11_bar__plus_01_dot_20_bar__plus_01_dot_24 - object + SaltShaker_bar__minus_01_dot_45_bar__plus_01_dot_32_bar__minus_02_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_61_bar__plus_00_dot_34_bar__plus_00_dot_71 - object + Spatula_bar__minus_01_dot_53_bar__plus_01_dot_34_bar__minus_01_dot_68 - object + Spatula_bar__minus_01_dot_79_bar__plus_01_dot_34_bar__plus_01_dot_74 - object + Spatula_bar__minus_01_dot_95_bar__plus_01_dot_07_bar__minus_00_dot_59 - object + Spoon_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_01_dot_09 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__plus_00_dot_56_bar__plus_01_dot_36_bar__minus_03_dot_23 - object + Tomato_bar__plus_00_dot_91_bar__plus_02_dot_06_bar__plus_02_dot_29 - object + Tomato_bar__plus_01_dot_29_bar__plus_01_dot_36_bar__minus_02_dot_05 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_17_bar__plus_01_dot_32_bar__minus_03_dot_31 - object + WineBottle_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_11 - 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_1_bar__minus_1_bar_3_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) + 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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_02_dot_05 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Pot_bar__plus_00_dot_49_bar__plus_01_dot_33_bar__minus_02_dot_79 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Kettle_bar__minus_01_dot_40_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 Tomato_bar__plus_00_dot_56_bar__plus_01_dot_36_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Plate_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__minus_03_dot_24 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+ "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": -1.602987, + "y": 0.343378425, + "z": -1.86363292 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -1.68797278, + "y": 0.421150625, + "z": -1.086478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 1.18117619, + "y": 1.3592943, + "z": 0.965037942 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": -1.6817342, + "y": 0.33881402, + "z": 0.6130607 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2124787138, + "scene_num": 3 + }, + "task_id": "trial_T20190908_102405_454935", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A6U2C66WQ7QQN_3URFVVM1689AMZWGMEMGFJ8K6LQZUS", + "high_descs": [ + "Take a few steps to the right, turn around, face the microwave", + "Take the salt shaker from in front of the microwave", + "Turn around, head to the counter, open the cabinet door", + "put the salt shaker inside the cabinet, close the cabinet door", + "turn around, head to the microwave", + "Take the salt shaker from in front of the microwave", + "Turn around, head to the counter, open the cabinet door", + "put the salt shaker inside the cabinet, close the cabinet door" + ], + "task_desc": "Take both salt shakers, put them in the cabinet", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3XIQGXAUMFZJJTK58O5K86EPQBM7XU", + "high_descs": [ + "Turn right and walk towards the door, then hang a right and walk up to the microwave.", + "Pick up the closest pepper grinder off of the counter.", + "Turn left and walk to the wall, then turn left and walk over to the counter.", + "Open the rightmost lower cabinet door below the counter and put the pepper grinder inside to the left of the pepper grinder that's already in there.", + "Turn left and walk forward, then hang a left and walk over to the microwave.", + "Pick up the pepper grind off of the counter.", + "Turn left and walk over to the wall, then turn left and walk up to the counter.", + "Open the rightmost lower cabinet door below the counter and put the pepper grinder inside to the left of the pepper grinders that are already in there." + ], + "task_desc": "Move two pepper grinders into a cabinet.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3VHP9MDGRQB8VOOGZB79IL6WNJDCF1", + "high_descs": [ + "Turn right, go forward, turn right and go to the counter", + "Pick up the salt on the counter", + "Turn around, go forward", + "Put the salt in the cupboard ", + "Turn around, go forward to the counter", + "Pick up the salt ", + "Turn around, go forward", + "Put the salt in the cupboard " + ], + "task_desc": "Put two salts into the cupboard", + "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-SaltShaker-None-Drawer-5/trial_T20190907_151045_928468/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151045_928468/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7cdb43bdc1b75b0dd4c0c317109e6b7761e9572d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151045_928468/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 saltshaker 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_T20190907_151045_928468)\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_89_bar__plus_01_dot_15_bar__minus_00_dot_83 - object\n Apple_bar__plus_01_dot_92_bar__plus_00_dot_11_bar__plus_00_dot_11 - object\n Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_46 - object\n Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 - object\n Bowl_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_35 - object\n Bowl_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_35 - object\n Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 - object\n Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_55 - object\n ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 - object\n ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11 - 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_41_bar__plus_01_dot_65_bar__minus_02_dot_09 - object\n DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_11 - object\n DishSponge_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_10 - object\n Egg_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_53 - 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_90_bar__plus_00_dot_91_bar__minus_01_dot_85 - object\n Fork_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 - object\n Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_17 - 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_15_bar__plus_01_dot_16_bar__plus_00_dot_44 - object\n Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_14 - object\n Knife_bar__minus_00_dot_69_bar__plus_00_dot_72_bar__minus_01_dot_94 - object\n Ladle_bar__minus_00_dot_82_bar__plus_01_dot_17_bar__plus_00_dot_44 - object\n Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_24 - object\n Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_00_dot_29 - 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__minus_01_dot_41_bar__plus_00_dot_91_bar__minus_00_dot_17 - object\n Pan_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_64 - object\n Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_08 - object\n PepperShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n PepperShaker_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Plate_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_55 - object\n Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_18 - object\n Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_00_dot_20 - object\n Potato_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__plus_00_dot_53 - 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_15_bar__plus_01_dot_13_bar__plus_00_dot_62 - object\n SaltShaker_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_27 - 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_94_bar__plus_00_dot_13_bar__minus_01_dot_50 - object\n SoapBottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__plus_00_dot_23 - object\n Spatula_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__minus_02_dot_01 - object\n Spatula_bar__minus_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_66 - object\n Spatula_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_02_dot_27 - object\n Spoon_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Spoon_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 - object\n Statue_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__minus_02_dot_01 - object\n Statue_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_19 - 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_84_bar__plus_00_dot_87_bar__minus_00_dot_46 - object\n Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_64 - object\n Vase_bar__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_24 - 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 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 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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_1_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 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DishSponge_bar__plus_01_dot_41_bar__plus_01_dot_65_bar__minus_02_dot_09 Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00)\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__minus_01_dot_31_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_01_dot_35_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 SoapBottle_bar__minus_00_dot_94_bar__plus_00_dot_13_bar__minus_01_dot_50 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67)\n (inReceptacle Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_00_dot_20 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05)\n (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)\n (inReceptacle ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Bowl_bar__minus_01_dot_33_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)\n (inReceptacle Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Fork_bar__minus_01_dot_08_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)\n (inReceptacle Mug_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)\n (inReceptacle Vase_bar__plus_00_dot_01_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)\n (inReceptacle Spoon_bar__plus_00_dot_01_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)\n (inReceptacle Statue_bar__minus_01_dot_06_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)\n (inReceptacle PepperShaker_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)\n (inReceptacle Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle DishSponge_bar__minus_00_dot_61_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)\n (inReceptacle Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_18 Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01)\n (inReceptacle SaltShaker_bar__minus_00_dot_15_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 PepperShaker_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 Ladle_bar__minus_00_dot_82_bar__plus_01_dot_17_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (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)\n (inReceptacle Egg_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Spoon_bar__minus_00_dot_60_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)\n (inReceptacle Knife_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Potato_bar__minus_00_dot_15_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 Spatula_bar__minus_01_dot_05_bar__plus_01_dot_15_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 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)\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 Statue_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Spatula_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Fork_bar__minus_00_dot_90_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)\n (inReceptacle Fork_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)\n (inReceptacle Pan_bar__minus_01_dot_16_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 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 SaltShaker_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 Apple_bar__plus_01_dot_92_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)\n (inReceptacle PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_08 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 DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\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_89_bar__plus_00_dot_87_bar__minus_00_dot_64 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_00_dot_87_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Apple_bar__plus_01_dot_89_bar__plus_01_dot_15_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Plate_bar__plus_01_dot_95_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 Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_55 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_46 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 ButterKnife_bar__minus_00_dot_29_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 Spatula_bar__minus_00_dot_12_bar__plus_00_dot_78_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 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_66_bar__plus_00_dot_92_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_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 Tomato_bar__plus_01_dot_84_bar__plus_00_dot_87_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_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 SaltShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_94_bar__plus_00_dot_13_bar__minus_01_dot_50 loc_bar_0_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_00_dot_20 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_55 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 Apple_bar__plus_01_dot_89_bar__plus_01_dot_15_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__plus_00_dot_44 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 Apple_bar__plus_01_dot_92_bar__plus_00_dot_11_bar__plus_00_dot_11 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Fork_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 Spatula_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_10 loc_bar_0_bar__minus_2_bar_0_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_16_bar__plus_00_dot_91_bar__minus_01_dot_64 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_69_bar__plus_00_dot_72_bar__minus_01_dot_94 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_85 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_82_bar__plus_01_dot_17_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_46 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_00_dot_67 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Vase_bar__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_15_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__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__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_18 loc_bar__minus_2_bar__minus_4_bar_0_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_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\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_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__plus_00_dot_23 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30)\n (objectAtLocation SaltShaker_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 Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation PepperShaker_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 ButterKnife_bar__minus_00_dot_29_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_41_bar__plus_01_dot_65_bar__minus_02_dot_09 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\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__plus_00_dot_01_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_89_bar__plus_00_dot_87_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\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_01_dot_06_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 (?o1 - object)\n (and\n (objectType ?o1 SaltShakerType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SaltShakerType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take saltshaker 2 from countertop 3", "go to drawer 2", "open drawer 2", "move saltshaker 2 to drawer 2", "go to countertop 1", "take saltshaker 1 from countertop 1", "go to drawer 2", "move saltshaker 1 to drawer 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151045_928468/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151045_928468/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bfa6f256e8e8e1272c54b420b6d1acff163296bd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151045_928468/initial_state.pddl @@ -0,0 +1,1289 @@ + +(define (problem plan_trial_T20190907_151045_928468) +(: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_15_bar__minus_00_dot_83 - object + Apple_bar__plus_01_dot_92_bar__plus_00_dot_11_bar__plus_00_dot_11 - object + Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_46 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 - object + Bowl_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_00_dot_35 - object + Bowl_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_35 - object + Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 - object + Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_55 - object + ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11 - 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_41_bar__plus_01_dot_65_bar__minus_02_dot_09 - object + DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_11 - object + DishSponge_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_10 - object + Egg_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_53 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_01_dot_85 - object + Fork_bar__minus_00_dot_90_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + Fork_bar__minus_01_dot_08_bar__plus_00_dot_91_bar__minus_00_dot_17 - 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_15_bar__plus_01_dot_16_bar__plus_00_dot_44 - object + Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_14 - object + Knife_bar__minus_00_dot_69_bar__plus_00_dot_72_bar__minus_01_dot_94 - object + Ladle_bar__minus_00_dot_82_bar__plus_01_dot_17_bar__plus_00_dot_44 - object + Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_24 - object + Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_00_dot_29 - 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_41_bar__plus_00_dot_91_bar__minus_00_dot_17 - object + Pan_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_64 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_08 - object + PepperShaker_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + PepperShaker_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Plate_bar__plus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_55 - object + Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_18 - object + Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_00_dot_20 - object + Potato_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__plus_00_dot_53 - 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_15_bar__plus_01_dot_13_bar__plus_00_dot_62 - object + SaltShaker_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_02_dot_27 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_94_bar__plus_00_dot_13_bar__minus_01_dot_50 - object + SoapBottle_bar__minus_01_dot_35_bar__plus_01_dot_66_bar__plus_00_dot_23 - object + Spatula_bar__minus_00_dot_12_bar__plus_00_dot_78_bar__minus_02_dot_01 - object + Spatula_bar__minus_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_66 - object + Spatula_bar__minus_01_dot_38_bar__plus_00_dot_93_bar__minus_02_dot_27 - object + Spoon_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Spoon_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Statue_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__minus_02_dot_01 - object + Statue_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__plus_00_dot_19 - 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_00_dot_87_bar__minus_00_dot_46 - object + Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_64 - object + Vase_bar__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_24 - 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 + 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_1_bar_0_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 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Bread_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57) + (sliceable Egg_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_53) + (sliceable Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_64) + (sliceable Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_00_dot_29) + (sliceable Potato_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__plus_00_dot_53) + (sliceable Apple_bar__plus_02_dot_00_bar__plus_00_dot_87_bar__minus_00_dot_46) + + (inReceptacleObject Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02) + (inReceptacle Knife_bar__minus_00_dot_69_bar__plus_00_dot_72_bar__minus_01_dot_94 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (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 Pot_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 DishSponge_bar__plus_01_dot_41_bar__plus_01_dot_65_bar__minus_02_dot_09 Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00) + (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) + (inReceptacle Bowl_bar__minus_01_dot_31_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_01_dot_35_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) + (inReceptacle SoapBottle_bar__minus_00_dot_94_bar__plus_00_dot_13_bar__minus_01_dot_50 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67) + (inReceptacle Plate_bar__minus_01_dot_03_bar__plus_00_dot_13_bar__minus_00_dot_20 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 ButterKnife_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_11 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_99_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Bowl_bar__minus_01_dot_33_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 Knife_bar__minus_00_dot_42_bar__plus_00_dot_94_bar__plus_00_dot_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Fork_bar__minus_01_dot_08_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 Mug_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 Vase_bar__plus_00_dot_01_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 Spoon_bar__plus_00_dot_01_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_01_dot_06_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 PepperShaker_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 Ladle_bar__minus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle DishSponge_bar__minus_00_dot_61_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 Plate_bar__minus_00_dot_61_bar__plus_00_dot_11_bar__plus_00_dot_18 Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01) + (inReceptacle SaltShaker_bar__minus_00_dot_15_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) + (inReceptacle PepperShaker_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 Ladle_bar__minus_00_dot_82_bar__plus_01_dot_17_bar__plus_00_dot_44 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 Egg_bar__minus_01_dot_05_bar__plus_01_dot_17_bar__plus_00_dot_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spoon_bar__minus_00_dot_60_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 Knife_bar__minus_00_dot_15_bar__plus_01_dot_16_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Potato_bar__minus_00_dot_15_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 Spatula_bar__minus_01_dot_05_bar__plus_01_dot_15_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 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 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 Statue_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__minus_02_dot_01 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spatula_bar__minus_01_dot_38_bar__plus_00_dot_93_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_00_dot_90_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 Fork_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 Pan_bar__minus_01_dot_16_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) + (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 SaltShaker_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 Apple_bar__plus_01_dot_92_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 PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_08 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 DishSponge_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_11 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (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 Tomato_bar__plus_01_dot_89_bar__plus_00_dot_87_bar__minus_00_dot_64 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_00_dot_87_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Apple_bar__plus_01_dot_89_bar__plus_01_dot_15_bar__minus_00_dot_83 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Plate_bar__plus_01_dot_95_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 Bread_bar__plus_01_dot_95_bar__plus_01_dot_51_bar__minus_00_dot_55 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_46 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 ButterKnife_bar__minus_00_dot_29_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 Spatula_bar__minus_00_dot_12_bar__plus_00_dot_78_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) + (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) + (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) + (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) + (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) + (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) + (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) + (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 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", + "Turn around, walk to the counter. ", + "Put the salt in the last top drawer. ", + "Walk around the end of the counter, face the counter.", + "Pick up the salt next to the bread. ", + "Walk back around the end of the counter, face the counter. ", + "Put the salt in the drawer next to the first salt shaker. " + ], + "task_desc": "Put two salt shakers in the drawer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2RQMEPIHW5BOS_3R0T90IZ1VT6OZYDENOAZKM6U6CCGI", + "high_descs": [ + "Turn around and walk to the sink.", + "Pick up the salt shaker.", + "Turn around and walk to the drawer.", + "Open the drawer, put the salt shaker in the drawer, and close the drawer.", + "Walk around the counter to the door, turn right, walk forward, turn left, and head to the counter.", + "Pick up the salt shaker on the left.", + "Turn left, walk around the counter, and turn right.", + "Open the drawer, put the salt shaker in the drawer, and close the drawer." + ], + "task_desc": "Put two salt shakers in the 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-SaltShaker-None-Drawer-5/trial_T20190907_151125_358475/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151125_358475/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b42882cff5a0f0814bc8a9a5fe21edb04d51fc6d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151125_358475/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 saltshaker 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_T20190907_151125_358475)\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_88_bar__plus_00_dot_11_bar__plus_00_dot_08 - object\n Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_95 - object\n Bowl_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Bowl_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 - object\n Bread_bar__minus_01_dot_15_bar__plus_01_dot_00_bar__minus_00_dot_24 - object\n ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n ButterKnife_bar__plus_01_dot_19_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_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_25 - object\n DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 - object\n DishSponge_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Egg_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_40 - object\n Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_14 - object\n Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_01_dot_95 - 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_01_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 - 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_91_bar__plus_00_dot_24 - object\n Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_53 - object\n Knife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_20 - object\n Ladle_bar__minus_00_dot_25_bar__plus_00_dot_73_bar__plus_00_dot_18 - object\n Ladle_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_00_dot_06 - 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_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_74 - object\n Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_12 - 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_02_bar__plus_01_dot_02_bar__minus_02_dot_27 - object\n PepperShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_53 - object\n Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50 - object\n Potato_bar__plus_01_dot_84_bar__plus_00_dot_85_bar__minus_00_dot_46 - object\n Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_40 - object\n Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - 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_99_bar__plus_01_dot_66_bar__minus_01_dot_08 - object\n SaltShaker_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 - object\n SaltShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_29 - object\n SaltShaker_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_56 - object\n Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object\n SoapBottle_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_66 - object\n Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_03 - object\n Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_71 - object\n Spatula_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_01_dot_85 - object\n Spoon_bar__plus_00_dot_08_bar__plus_00_dot_70_bar__plus_00_dot_22 - object\n Spoon_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_24 - object\n Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_14 - object\n Statue_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_55 - object\n Statue_bar__minus_01_dot_33_bar__plus_00_dot_93_bar__minus_00_dot_09 - 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_84_bar__plus_01_dot_15_bar__minus_00_dot_64 - object\n Tomato_bar__plus_01_dot_95_bar__plus_00_dot_87_bar__minus_00_dot_46 - object\n Tomato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_00_dot_53 - object\n Vase_bar__plus_01_dot_00_bar__plus_01_dot_66_bar__minus_02_dot_13 - object\n Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object\n Vase_bar__minus_00_dot_85_bar__plus_00_dot_92_bar__plus_00_dot_19 - 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__minus_1_bar__minus_1_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 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 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Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97)\n (coolable Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_74)\n (coolable Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_95)\n (coolable Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76)\n (coolable Potato_bar__plus_01_dot_84_bar__plus_00_dot_85_bar__minus_00_dot_46)\n (coolable Egg_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_40)\n (coolable Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_14)\n (coolable Tomato_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_64)\n (coolable Bowl_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53)\n (coolable Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_12)\n (coolable Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_08)\n (coolable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90)\n (coolable Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50)\n (coolable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67)\n \n \n \n \n \n (sliceable Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_40)\n (sliceable Bread_bar__minus_01_dot_15_bar__plus_01_dot_00_bar__minus_00_dot_24)\n (sliceable Tomato_bar__plus_01_dot_95_bar__plus_00_dot_87_bar__minus_00_dot_46)\n (sliceable Tomato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_00_dot_53)\n (sliceable Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_01_dot_95)\n (sliceable Lettuce_bar__minus_00_dot_26_bar__plus_00_dot_87_bar__minus_01_dot_97)\n (sliceable Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_95)\n (sliceable Potato_bar__plus_01_dot_84_bar__plus_00_dot_85_bar__minus_00_dot_46)\n (sliceable Egg_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_40)\n (sliceable Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_14)\n (sliceable Tomato_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_64)\n (sliceable Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_08)\n \n (inReceptacleObject Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67)\n (inReceptacle Pot_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)\n (inReceptacle Pot_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)\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 SaltShaker_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_08 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03)\n (inReceptacle Vase_bar__plus_01_dot_00_bar__plus_01_dot_66_bar__minus_02_dot_13 Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00)\n (inReceptacle SaltShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_29 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77)\n (inReceptacle SaltShaker_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_56 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77)\n (inReceptacle Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67)\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 Ladle_bar__minus_00_dot_99_bar__plus_00_dot_93_bar__minus_00_dot_06 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Vase_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)\n (inReceptacle DishSponge_bar__minus_01_dot_28_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)\n (inReceptacle Statue_bar__minus_01_dot_33_bar__plus_00_dot_93_bar__minus_00_dot_09 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Knife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_20 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle Kettle_bar__minus_01_dot_06_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)\n (inReceptacle Fork_bar__plus_00_dot_01_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)\n (inReceptacle Spoon_bar__minus_01_dot_28_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)\n (inReceptacle Bread_bar__minus_01_dot_15_bar__plus_01_dot_00_bar__minus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19)\n (inReceptacle ButterKnife_bar__plus_00_dot_01_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)\n (inReceptacle DishSponge_bar__minus_00_dot_58_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)\n (inReceptacle Bowl_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)\n (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)\n (inReceptacle SoapBottle_bar__plus_00_dot_07_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)\n (inReceptacle Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Tomato_bar__minus_00_dot_38_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)\n (inReceptacle SaltShaker_bar__minus_00_dot_60_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)\n (inReceptacle PepperShaker_bar__minus_01_dot_05_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 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 Spoon_bar__plus_00_dot_08_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)\n (inReceptacle Ladle_bar__minus_00_dot_25_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)\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 Bowl_bar__minus_01_dot_26_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)\n (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)\n (inReceptacle Spatula_bar__minus_01_dot_02_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 Statue_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_55 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 ButterKnife_bar__plus_01_dot_19_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 PaperTowelRoll_bar__minus_01_dot_02_bar__plus_01_dot_02_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_14 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_40 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle Egg_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_40 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle DishSponge_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 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_95_bar__plus_00_dot_87_bar__minus_00_dot_46 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_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_15_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Potato_bar__plus_01_dot_84_bar__plus_00_dot_85_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__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 Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_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 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_03_bar__plus_00_dot_81_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 Egg_bar__minus_00_dot_12_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 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 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_55 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_08_bar__plus_00_dot_70_bar__plus_00_dot_22 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_01_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__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_02_bar__plus_00_dot_93_bar__minus_01_dot_85 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Pot_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 Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_25_bar__plus_00_dot_73_bar__plus_00_dot_18 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Bowl_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 Knife_bar__minus_01_dot_24_bar__plus_00_dot_91_bar__minus_00_dot_20 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_12 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_23_bar__plus_01_dot_66_bar__minus_00_dot_29 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_08 loc_bar_4_bar__minus_5_bar_1_bar__minus_30)\n (objectAtLocation Tomato_bar__plus_01_dot_95_bar__plus_00_dot_87_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_42_bar__plus_00_dot_93_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_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_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_25 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_1_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_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45)\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 Bowl_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 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 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_99_bar__plus_00_dot_93_bar__minus_00_dot_06 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_00_bar__plus_01_dot_66_bar__minus_02_dot_13 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Potato_bar__plus_01_dot_84_bar__plus_00_dot_85_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\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_01_dot_00_bar__minus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50 loc_bar_0_bar__minus_4_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_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_02_bar__plus_01_dot_02_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_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 (objectAtLocation Egg_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_07_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_39_bar__plus_01_dot_66_bar__minus_00_dot_56 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\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_05_bar__plus_01_dot_13_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_01_dot_19_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__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_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_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_38_bar__plus_01_dot_18_bar__plus_00_dot_53 loc_bar_2_bar_3_bar_3_bar_30)\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_01_dot_33_bar__plus_00_dot_93_bar__minus_00_dot_09 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SaltShakerType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SaltShakerType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take saltshaker 4 from countertop 3", "go to drawer 2", "open drawer 2", "move saltshaker 4 to drawer 2", "go to cabinet 2", "open cabinet 2", "take saltshaker 1 from cabinet 2", "go to drawer 2", "move saltshaker 1 to drawer 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151125_358475/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151125_358475/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..95dd4355b4b7b4e9bf5caf42665efd1a808b3dde --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151125_358475/initial_state.pddl @@ -0,0 +1,1284 @@ + +(define (problem plan_trial_T20190907_151125_358475) +(: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_88_bar__plus_00_dot_11_bar__plus_00_dot_08 - object + Apple_bar__minus_00_dot_03_bar__plus_00_dot_81_bar__minus_01_dot_95 - object + Bowl_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Bowl_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 - object + Bread_bar__minus_01_dot_15_bar__plus_01_dot_00_bar__minus_00_dot_24 - object + ButterKnife_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_24 - object + ButterKnife_bar__plus_01_dot_19_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_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_25 - object + DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_69_bar__plus_00_dot_19 - object + DishSponge_bar__minus_01_dot_28_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Egg_bar__plus_01_dot_78_bar__plus_01_dot_05_bar__minus_01_dot_40 - object + Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_bar__plus_00_dot_14 - object + Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_01_dot_95 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + 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Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_02_dot_12 - object + Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object + PaperTowelRoll_bar__minus_01_dot_02_bar__plus_01_dot_02_bar__minus_02_dot_27 - object + PepperShaker_bar__minus_01_dot_05_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Plate_bar__minus_01_dot_07_bar__plus_00_dot_13_bar__minus_01_dot_50 - object + Potato_bar__plus_01_dot_84_bar__plus_00_dot_85_bar__minus_00_dot_46 - object + Potato_bar__plus_01_dot_85_bar__plus_01_dot_05_bar__minus_01_dot_40 - object + Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - 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__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_08 - object + SaltShaker_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + 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Tomato_bar__minus_00_dot_38_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 SaltShaker_bar__minus_00_dot_60_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 PepperShaker_bar__minus_01_dot_05_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 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 Spoon_bar__plus_00_dot_08_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 Ladle_bar__minus_00_dot_25_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 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 Bowl_bar__minus_01_dot_26_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 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 Spatula_bar__minus_01_dot_02_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 Statue_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__minus_01_dot_55 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_19_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 PaperTowelRoll_bar__minus_01_dot_02_bar__plus_01_dot_02_bar__minus_02_dot_27 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_00_dot_10_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_88_bar__plus_00_dot_11_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_14 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_40 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Egg_bar__plus_01_dot_78_bar__plus_01_dot_05_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_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 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 Tomato_bar__plus_01_dot_95_bar__plus_00_dot_87_bar__minus_00_dot_46 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_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_15_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle 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"z": 0.08309689 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "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": -0.2527125, + "y": 0.733936131, + "z": 0.181100011 + }, + "rotation": { + "x": -7.0167104e-15, + "y": 270.0, + "z": 7.01670955e-15 + } + }, + { + "objectName": "Apple_3526507b", + "position": { + "x": 1.88453054, + "y": 0.111713648, + "z": 0.08003965 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_7c4fce22", + "position": { + "x": -1.06366289, + "y": 0.914541245, + "z": 0.241651565 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_777c51a0", + "position": { + "x": 1.00097084, + "y": 1.66010749, + "z": -2.12643981 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_8a9da01b", + "position": { + "x": 1.84610152, + "y": 1.04593813, + "z": -1.40279746 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pot_b40d1b1e", + "position": { + "x": -1.0561, + "y": 0.956400037, + "z": -0.672 + }, + "rotation": { + "x": 0.0, + "y": 180.000336, + "z": 0.0 + } + }, + { + "objectName": "Bread_0d0ef808", + "position": { + "x": -1.14609742, + "y": 1.00349593, + "z": -0.242768615 + }, + "rotation": { + "x": 350.921356, + "y": 3.36226416, + "z": 0.329756 + } + }, + { + "objectName": "Plate_c0097cec", + "position": { + "x": -1.07351243, + "y": 0.127191961, + "z": -1.50180006 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_ef52a4ea", + "position": { + "x": -1.018377, + "y": 0.9262998, + "z": -1.84518552 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_e7f3845e", + "position": { + "x": -1.018377, + "y": 1.0155853, + "z": -2.26722145 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_f4e7dd3c", + "position": { + "x": -0.849135458, + "y": 0.9198706, + "z": 0.1888 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_c00db6cc", + "position": { + "x": -0.117366061, + "y": 0.797030032, + "z": -1.95272 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_99ef625f", + "position": { + "x": 0.0713647, + "y": 1.13159847, + "z": 0.662104 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_52c85e6d", + "position": { + "x": -0.5988306, + "y": 1.12780631, + "z": 0.662104 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "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": -1.04562736, + "y": 1.12780631, + "z": 0.529798 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_1a7bf448", + "position": { + "x": 0.00897419453, + "y": 0.9135421, + "z": 0.241651565 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_42dba209", + "position": { + "x": -0.5775266, + "y": 0.6939781, + "z": 0.190700009 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_3478a6e4", + "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": 0.0793187544, + "y": 0.698125541, + "z": 0.222506255 + }, + "rotation": { + "x": -7.0167104e-15, + "y": 270.0, + "z": 7.01670955e-15 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": 1.83629346, + "y": 1.14834952, + "z": -0.6443927 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 2.05530977, + "y": 0.8123247, + "z": -0.7374979 + }, + "rotation": { + "x": 0.0, + "y": 0.000169038554, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": -1.32211292, + "y": 0.9183639, + "z": -1.55374813 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2579039709, + "scene_num": 5 + }, + "task_id": "trial_T20190907_151125_358475", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3T9K2RY06UO14_3A9AA95ATZ3R2RIX2WRPFNUO38ZP5X", + "high_descs": [ + "Turn around and go to the cabinet above the stove", + "Take the salt shaker on the left from the cabinet.", + "Turn around and go to the counter.", + "Put the salt shaker in the top drawer.", + "Turn around and go the cabinet above the stove.", + "Take the salt shaker from the cabinet above the stove.", + "Turn around and go to the counter.", + "Put the salt shaker in the top drawer." + ], + "task_desc": "Move two salt shakers from the cabinet above the stove to the drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3DIP6YHAPF96SIC9RGIHXV5BRL88EV", + "high_descs": [ + "Turn around and face the cabinets above the stove.", + "Open the cupboard above the stove and take the salt out and shut the door.", + "Go left and face the counter with the silver ware on it.", + "Open the drawer and put the salt shaker in and then shut the drawer.", + "Turn around and face the counter where the bread sits.", + "Open the cupboard above the counter where the bread is and take out the salt.", + "Turn and face the cupboards with the silver ware.", + "Open the drawer on the far right, put the salt in and shut the door." + ], + "task_desc": "Put two salt shakers in a drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A35P2RX8HKZM96_3YGXWBAF73YQCJ5TJMM9QVP34TL4CP", + "high_descs": [ + "Turn left and approach the cabinet to the right of the stove.", + "Open the door and take the salt shaker in the cabinet.", + "Turn around and face the counter on the left.", + "Open the drawer and place the salt shaker inside then close the door.", + "Turn left and approach the bread on the counter.", + "Look up, open the door and take the salt shaker in the cabinet. ", + "Turn around and walk toward the drawer.", + "Open the drawer, put the shaker inside, and close the drawer." + ], + "task_desc": "Put two salt shakers in the 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-SaltShaker-None-Drawer-5/trial_T20190907_151211_150451/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151211_150451/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..86d894682f6c3b27db921b7352e6b3081bf53280 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151211_150451/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 saltshaker 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_T20190907_151211_150451)\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_84_bar__plus_00_dot_87_bar__minus_00_dot_83 - object\n Apple_bar__plus_01_dot_95_bar__plus_00_dot_87_bar__minus_00_dot_83 - object\n Apple_bar__minus_00_dot_85_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n 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SaltShaker_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)\n (inReceptacle Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Egg_bar__plus_00_dot_07_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)\n (inReceptacle Spatula_bar__minus_00_dot_82_bar__plus_01_dot_15_bar__plus_00_dot_49 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_53 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57)\n (inReceptacle Tomato_bar__minus_01_dot_05_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 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 Spatula_bar__minus_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_44 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 Spoon_bar__plus_00_dot_01_bar__plus_00_dot_70_bar__plus_00_dot_14 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Fork_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_14 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01)\n (inReceptacle Bread_bar__plus_01_dot_42_bar__plus_00_dot_99_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (inReceptacle SoapBottle_bar__plus_00_dot_97_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 Lettuce_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__minus_01_dot_38 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01)\n (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)\n (inReceptacle PepperShaker_bar__minus_01_dot_14_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)\n (inReceptacle SaltShaker_bar__minus_01_dot_16_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)\n (inReceptacle Kettle_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)\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 SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_06_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14)\n (inReceptacle Egg_bar__plus_02_dot_04_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 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 PaperTowelRoll_bar__plus_02_dot_49_bar__plus_00_dot_98_bar__plus_00_dot_20 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14)\n (inReceptacle Plate_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35)\n (inReceptacle SaltShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_30 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14)\n (inReceptacle Bowl_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)\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 Mug_bar__plus_01_dot_84_bar__plus_01_dot_09_bar__minus_00_dot_83 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_50_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Apple_bar__plus_01_dot_84_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 Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_50_bar__minus_00_dot_46 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54)\n (inReceptacle Apple_bar__plus_01_dot_95_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 Bowl_bar__plus_01_dot_84_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 Spoon_bar__minus_00_dot_12_bar__plus_00_dot_76_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_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 ButterKnife_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 Fork_bar__plus_00_dot_06_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 \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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(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 Spoon_bar__plus_00_dot_01_bar__plus_00_dot_70_bar__plus_00_dot_14 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_16_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_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SaltShaker_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 SoapBottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_01_dot_76 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_82_bar__plus_01_dot_15_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Plate_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 Bread_bar__minus_01_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_18 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_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation 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loc_bar_0_bar__minus_2_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_30 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_81 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_79 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\n (objectAtLocation SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_06_bar__plus_00_dot_08 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar_0_bar__minus_5_bar_2_bar_45)\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 Ladle_bar__minus_00_dot_99_bar__plus_00_dot_17_bar__minus_00_dot_30 loc_bar_0_bar__minus_2_bar_3_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__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Bowl_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 Fork_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_14 loc_bar_3_bar__minus_2_bar_3_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_99_bar__plus_00_dot_92_bar__minus_00_dot_17 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_84_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_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__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 Potato_bar__minus_01_dot_41_bar__plus_00_dot_94_bar__minus_00_dot_05 loc_bar__minus_2_bar__minus_2_bar_0_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_01_dot_42_bar__plus_00_dot_99_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_25 loc_bar_4_bar__minus_5_bar_1_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_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_49_bar__plus_00_dot_98_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_14 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_00_dot_07_bar__plus_01_dot_17_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_14_bar__minus_00_dot_34 loc_bar_0_bar__minus_2_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_35 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__minus_01_dot_38 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_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 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_82_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar_2_bar_3_bar_3_bar_30)\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_29_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_05_bar__plus_01_dot_18_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_84_bar__plus_01_dot_09_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\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 )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SaltShakerType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SaltShakerType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take saltshaker 1 from shelf 2", "go to drawer 2", "open drawer 2", "move saltshaker 1 to drawer 2", "go to countertop 3", "take saltshaker 4 from countertop 3", "go to drawer 2", "move saltshaker 4 to drawer 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151211_150451/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151211_150451/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e6047c9a4e1eea9a5b908e32e1bda8f2033119af --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SaltShaker-None-Drawer-5/trial_T20190907_151211_150451/initial_state.pddl @@ -0,0 +1,1274 @@ + +(define (problem plan_trial_T20190907_151211_150451) +(: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_84_bar__plus_00_dot_87_bar__minus_00_dot_83 - object + Apple_bar__plus_01_dot_95_bar__plus_00_dot_87_bar__minus_00_dot_83 - object + Apple_bar__minus_00_dot_85_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + Bowl_bar__plus_01_dot_84_bar__plus_01_dot_10_bar__minus_00_dot_64 - object + Bowl_bar__plus_02_dot_69_bar__plus_00_dot_55_bar__plus_00_dot_04 - object + Bowl_bar__minus_01_dot_32_bar__plus_01_dot_66_bar__minus_01_dot_79 - object + Bread_bar__plus_01_dot_42_bar__plus_00_dot_99_bar__minus_01_dot_93 - object + Bread_bar__minus_01_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_18 - object + ButterKnife_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_01 - 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_82_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + Egg_bar__plus_00_dot_07_bar__plus_01_dot_17_bar__plus_00_dot_71 - object + Egg_bar__plus_02_dot_04_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_06_bar__plus_00_dot_76_bar__minus_02_dot_01 - object + Fork_bar__minus_00_dot_25_bar__plus_00_dot_70_bar__plus_00_dot_14 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__plus_01_dot_19_bar__plus_00_dot_91_bar__minus_01_dot_84 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_49 - object + Ladle_bar__minus_00_dot_99_bar__plus_00_dot_17_bar__minus_00_dot_30 - object + Ladle_bar__minus_00_dot_99_bar__plus_00_dot_92_bar__minus_00_dot_17 - object + Ladle_bar__minus_01_dot_42_bar__plus_01_dot_70_bar__minus_00_dot_04 - object + Lettuce_bar__plus_01_dot_89_bar__plus_01_dot_50_bar__minus_00_dot_46 - object + Lettuce_bar__plus_01_dot_95_bar__plus_01_dot_50_bar__minus_00_dot_64 - object + Lettuce_bar__minus_00_dot_99_bar__plus_00_dot_99_bar__minus_01_dot_38 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_01_dot_84_bar__plus_01_dot_09_bar__minus_00_dot_83 - object + Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object + PaperTowelRoll_bar__plus_02_dot_49_bar__plus_00_dot_98_bar__plus_00_dot_20 - object + PepperShaker_bar__minus_00_dot_68_bar__plus_00_dot_69_bar__plus_00_dot_10 - object + PepperShaker_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + PepperShaker_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_00_dot_41 - object + Plate_bar__plus_01_dot_85_bar__plus_01_dot_01_bar__minus_01_dot_25 - object + Plate_bar__minus_00_dot_38_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + Potato_bar__plus_01_dot_85_bar__plus_00_dot_09_bar__plus_00_dot_17 - object + Potato_bar__minus_01_dot_41_bar__plus_00_dot_94_bar__minus_00_dot_05 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + SaltShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_30 - object + SaltShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_53 - object + SaltShaker_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_81 - object + SaltShaker_bar__minus_01_dot_39_bar__plus_01_dot_66_bar__minus_00_dot_35 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_01_dot_76 - object + SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_06_bar__plus_00_dot_08 - object + SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_14_bar__minus_00_dot_34 - object + Spatula_bar__minus_00_dot_82_bar__plus_01_dot_15_bar__plus_00_dot_49 - object + Spatula_bar__minus_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_44 - object + Spoon_bar__plus_00_dot_01_bar__plus_00_dot_70_bar__plus_00_dot_14 - object + Spoon_bar__minus_00_dot_12_bar__plus_00_dot_76_bar__minus_01_dot_95 - object + Spoon_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_02_dot_06 - object + Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_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_01_dot_05_bar__plus_01_dot_18_bar__plus_00_dot_57 - object + Vase_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33 - object + Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object + Vase_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_14 - 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 + 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Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle SaltShaker_bar__minus_01_dot_39_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 Ladle_bar__minus_01_dot_42_bar__plus_01_dot_70_bar__minus_00_dot_04 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38) + (inReceptacle SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_14_bar__minus_00_dot_34 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05) + (inReceptacle Ladle_bar__minus_00_dot_99_bar__plus_00_dot_17_bar__minus_00_dot_30 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05) + (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 Potato_bar__minus_01_dot_41_bar__plus_00_dot_94_bar__minus_00_dot_05 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle PepperShaker_bar__minus_01_dot_16_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 Bread_bar__minus_01_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_18 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Ladle_bar__minus_00_dot_99_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 Apple_bar__minus_00_dot_85_bar__plus_00_dot_96_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Vase_bar__minus_01_dot_28_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 PepperShaker_bar__minus_00_dot_68_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 DishSponge_bar__minus_00_dot_82_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 SaltShaker_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 Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Egg_bar__plus_00_dot_07_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_82_bar__plus_01_dot_15_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Plate_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 Tomato_bar__minus_01_dot_05_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 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_01_dot_05_bar__plus_01_dot_15_bar__plus_00_dot_44 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 Spoon_bar__plus_00_dot_01_bar__plus_00_dot_70_bar__plus_00_dot_14 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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_81 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Kettle_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 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 SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_06_bar__plus_00_dot_08 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Egg_bar__plus_02_dot_04_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 Statue_bar__plus_03_dot_00_bar__plus_00_dot_89_bar__plus_00_dot_17 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{ + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_0d0ef808", + "position": { + "x": -1.19148624, + "y": 1.00516546, + "z": -0.183202922 + }, + "rotation": { + "x": 359.9741, + "y": 2.44413185, + "z": 28.1477261 + } + }, + { + "objectName": "Plate_c0097cec", + "position": { + "x": -0.375432163, + "y": 1.1299423, + "z": 0.529798 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_ef52a4ea", + "position": { + "x": -0.822229, + "y": 1.1465, + "z": 0.485696 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_e7f3845e", + "position": { + "x": 2.49120164, + "y": 0.984116435, + "z": 0.195737988 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + }, + { + "objectName": "Vase_f4e7dd3c", + "position": { + "x": -1.27819037, + "y": 0.9198706, + "z": 0.135948449 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_c00db6cc", + "position": { + "x": 2.04240847, + "y": 0.096799016, + "z": 0.08003965 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_99ef625f", + "position": { + "x": 0.969692647, + "y": 0.911398351, + "z": -1.760051 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_52c85e6d", + "position": { + "x": -0.152033746, + "y": 1.12780631, + "z": 0.529798 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_9396b7e6", + "position": { + "x": 1.89104831, + "y": 1.5042938, + "z": -0.458186448 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b0cc376f", + "position": { + "x": -1.16389012, + "y": 0.909806132, + "z": -0.414481372 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_1a7bf448", + "position": { + "x": -0.290060669, + "y": 0.76339823, + "z": -2.008 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_42dba209", + "position": { + "x": -0.822229, + "y": 1.13106441, + "z": 0.662104 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_3478a6e4", + "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": 0.0129125118, + "y": 0.6968006, + "z": 0.139693767 + }, + "rotation": { + "x": 7.01670955e-15, + "y": 180.0, + "z": 7.01670955e-15 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": -1.04562736, + "y": 1.18106067, + "z": 0.5739 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": 1.83629286, + "y": 1.093789, + "z": -0.8305992 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": 3.00296783, + "y": 0.8868952, + "z": 0.168566912 + }, + "rotation": { + "x": 3.415104e-06, + "y": 180.0003, + "z": -3.4150853e-06 + } + } + ], + "object_toggles": [], + "random_seed": 1513724559, + "scene_num": 5 + }, + "task_id": "trial_T20190907_151211_150451", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_374TNBHA8ECA4RTWDBBBQPIR3B5QYP", + "high_descs": [ + "Turn around and walk to the counter to the left of the stove. ", + "Pick up the salt shaker to the left of the lettuce. ", + "Turn around and walk to the counter ahead.", + "Open the drawer to the right, place the salt in the drawer, and close it. ", + "turn left and walk to the counter to the right of the stove and look at the cabinet above. ", + "Open the left door of the cabinet, take the salt shaker out, and close the door. ", + "Turn around and walk to the drawer the first salt shaker is in. ", + "Open the drawer, put the salt shaker inside the drawer behind the first shaker, and close the drawer. " + ], + "task_desc": "Put two salt shakers inside of a drawer. ", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A16184N1RO5OJV_3XC1O3LBOV33W8EPB0GG1MRIE2CLTG", + "high_descs": [ + "Turn around, walk straight towards the sink and turn right to the stove. ", + "Pick up the salt that is next to the lettuce. ", + "Walk to your right and go to the cabinet with a knife on the counter top.", + "Put the salt in the drawer underneath the counter top. ", + "Walk to your left until you see a loaf of bread. ", + "Grab another bottle of salt from the cabinet on top of the bread. ", + "Turn around and go back to the counter top with a knife on top of it again. ", + "Open the drawer under the cabinet, put the bottle of salt next to the other salt and close the drawer. " + ], + "task_desc": "Put 2 bottles of salt in the drawer of the cabinet that has a knife on the counter top. ", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3483FV8BEH0RTOH55HQIBG0VOU326Q", + "high_descs": [ + "Turn around and walk to the counter then turn right and walk to the stove.", + "Pick up the saltshaker to the left of the romaine lettuce.", + "Turn right and take a step to your right then walk to the counter in front of you.", + "Open the top drawer that's under the counter top and put the saltshaker in it in the bottom left corner before closing it.", + "Turn left and walk to the counter, you should be facing the bread.", + "Open the left cabinet door above the bread on the counter and get the salt shaker before closing the door.", + "Walk back to where you put the first salt shaker.", + "Put the salt shaker above the other one in the bottom left corner." + ], + "task_desc": "Put two salt shakers in the drawer.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3JRJSWSMQK2KRL63FZNL6EX0BE1E3O", + "high_descs": [ + "Turn around to go to the counter left of the stove", + "Pick up the salt shaker.", + "Go to the counter with drawers on the right. ", + "Place the salt shaker in the top drawer on the right side of the counter next to the spoon.", + "Turn left and go to the counter on the right of the stove. ", + "Open the cupboard above the counter and remove the salt shaker.", + "Turn around to go back to the counter with the drawer with salt shaker in it.", + "Place the salt shaker behind the first salt shaker in the drawer." + ], + "task_desc": "Place salt shakers in the drawer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3JWH6J9I9VUTOMNTNR5AEKPLDW5NBZ", + "high_descs": [ + "Turn around, go straight to the coffee maker, turn right go to the counter to the left of the oven.", + "Take the salt on the left of the counter.", + "Turn around, go straight, turn left where the counter ends on the left, go straight to the counter.", + "Put the salt in the left side bottom corner of the drawer below the counter.", + "Turn left, go straight to the counter.", + "Take the salt from the cabinet above the oven and counter.", + "Turn around, go back to the end of the counter and face the counter.", + "Put the salt above the other salt in the drawer." + ], + "task_desc": "Put two salts in 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-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bf880b3f02beae7477aa621c37b18bcbe5fd56d9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/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 soapbar 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_133156_866013)\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_00_dot_81_bar__plus_03_dot_26 - object\n Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60 - object\n Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61 - object\n Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 - object\n DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77 - object\n DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63 - object\n DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41 - object\n Faucet_bar__minus_00_dot_08_bar__plus_00_dot_81_bar__plus_01_dot_73 - object\n Faucet_bar__minus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_76 - object\n HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 - object\n LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_39_bar__plus_03_dot_30 - object\n Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 - object\n Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 - object\n ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__plus_01_dot_17 - object\n ShowerGlass_bar__minus_00_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_49 - object\n ShowerHead_bar__minus_00_dot_08_bar__plus_01_dot_25_bar__plus_00_dot_52 - object\n Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 - object\n Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75 - object\n SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47 - object\n SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82 - object\n SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 - object\n SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 - object\n SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35 - object\n SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14 - object\n ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 - object\n ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20 - object\n Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29 - object\n CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45 - receptacle\n Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_98 - receptacle\n Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50 - receptacle\n Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01 - receptacle\n Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46 - receptacle\n Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98 - receptacle\n Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_02_dot_50 - receptacle\n Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01 - receptacle\n GarbageCan_bar__minus_02_dot_15_bar_00_dot_00_bar__plus_03_dot_84 - receptacle\n HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_76_bar__plus_03_dot_44 - receptacle\n Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin - receptacle\n Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_00_dot_90_bar__plus_04_dot_00 - receptacle\n Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67 - receptacle\n TowelHolder_bar__minus_01_dot_11_bar__plus_01_dot_14_bar__plus_01_dot_18 - receptacle\n loc_bar__minus_7_bar_14_bar_3_bar_60 - location\n loc_bar__minus_4_bar_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar_10_bar_1_bar_45 - location\n loc_bar__minus_4_bar_8_bar_1_bar_60 - location\n loc_bar__minus_6_bar_10_bar_1_bar_45 - location\n loc_bar__minus_5_bar_9_bar_1_bar_45 - location\n loc_bar__minus_5_bar_14_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_1_bar_60 - location\n loc_bar__minus_6_bar_8_bar_1_bar_45 - location\n loc_bar__minus_5_bar_7_bar_1_bar_45 - location\n loc_bar__minus_5_bar_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar_13_bar_0_bar_60 - location\n loc_bar__minus_4_bar_7_bar_2_bar_45 - location\n loc_bar__minus_6_bar_7_bar_2_bar_45 - location\n loc_bar__minus_4_bar_13_bar_1_bar_0 - location\n loc_bar__minus_7_bar_13_bar_3_bar_30 - location\n loc_bar__minus_4_bar_8_bar_1_bar_45 - location\n loc_bar__minus_6_bar_7_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01 DrawerType)\n (receptacleType GarbageCan_bar__minus_02_dot_15_bar_00_dot_00_bar__plus_03_dot_84 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_00_dot_90_bar__plus_04_dot_00 ToiletPaperHangerType)\n (receptacleType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75_bar_SinkBasin SinkBasinType)\n (receptacleType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_76_bar__plus_03_dot_44 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67 ToiletType)\n (receptacleType TowelHolder_bar__minus_01_dot_11_bar__plus_01_dot_14_bar__plus_01_dot_18 TowelHolderType)\n (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_98 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_02_dot_50 DrawerType)\n (receptacleType CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45 CounterTopType)\n (objectType Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29 TowelType)\n (objectType Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 ClothType)\n (objectType ShowerGlass_bar__minus_00_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_49 ShowerGlassType)\n (objectType Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 MirrorType)\n (objectType SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35 SprayBottleType)\n (objectType SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82 SoapBarType)\n (objectType Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61 CandleType)\n (objectType SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 SoapBottleType)\n (objectType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 SinkType)\n (objectType ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 ToiletPaperType)\n (objectType DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77 DishSpongeType)\n (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_39_bar__plus_03_dot_30 LightSwitchType)\n (objectType ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34 ScrubBrushType)\n (objectType SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 SprayBottleType)\n (objectType Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_26 CandleType)\n (objectType SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14 SprayBottleType)\n (objectType DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41 DishSpongeType)\n (objectType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75 SinkType)\n (objectType ShowerDoor_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__plus_01_dot_17 ShowerDoorType)\n (objectType DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63 DishSpongeType)\n (objectType Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60 CandleType)\n (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelType)\n (objectType ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20 ToiletPaperType)\n (objectType Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 PlungerType)\n (objectType SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47 SoapBarType)\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 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 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 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 HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\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 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 TowelHolderType TowelType)\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 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 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 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 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 (pickupable Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29)\n (pickupable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01)\n (pickupable SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35)\n (pickupable SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82)\n (pickupable Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61)\n (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33)\n (pickupable ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72)\n (pickupable DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77)\n (pickupable ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34)\n (pickupable SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85)\n (pickupable Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_26)\n (pickupable SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14)\n (pickupable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41)\n (pickupable DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63)\n (pickupable Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60)\n (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44)\n (pickupable ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20)\n (pickupable Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37)\n (pickupable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47)\n \n (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01)\n (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98)\n (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01)\n (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50)\n (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46)\n (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_02_dot_50)\n \n (atLocation agent1 loc_bar__minus_6_bar_7_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01)\n (cleanable SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82)\n (cleanable DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77)\n (cleanable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41)\n (cleanable DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63)\n (cleanable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin)\n (inReceptacle Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01)\n (inReceptacle SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_26 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45)\n (inReceptacle DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46)\n (inReceptacle Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50)\n (inReceptacle Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29 TowelHolder_bar__minus_01_dot_11_bar__plus_01_dot_14_bar__plus_01_dot_18)\n (inReceptacle SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82 GarbageCan_bar__minus_02_dot_15_bar_00_dot_00_bar__plus_03_dot_84)\n (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_76_bar__plus_03_dot_44)\n (inReceptacle ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67)\n (inReceptacle Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60 Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67)\n (inReceptacle SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47 Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67)\n (inReceptacle SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67)\n (inReceptacle Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75_bar_SinkBasin)\n \n \n (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_98 loc_bar__minus_4_bar_8_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01 loc_bar__minus_6_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46 loc_bar__minus_5_bar_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98 loc_bar__minus_5_bar_9_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_02_dot_50 loc_bar__minus_5_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01 loc_bar__minus_5_bar_11_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_15_bar_00_dot_00_bar__plus_03_dot_84 loc_bar__minus_7_bar_14_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_76_bar__plus_03_dot_44 loc_bar__minus_4_bar_13_bar_1_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin loc_bar__minus_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75_bar_SinkBasin loc_bar__minus_4_bar_10_bar_1_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_00_dot_90_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_60)\n (receptacleAtLocation Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67 loc_bar__minus_4_bar_13_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_11_bar__plus_01_dot_14_bar__plus_01_dot_18 loc_bar__minus_4_bar_7_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77 loc_bar__minus_4_bar_8_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_26 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47 loc_bar__minus_4_bar_13_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 loc_bar__minus_4_bar_13_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61 loc_bar__minus_6_bar_8_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75 loc_bar__minus_4_bar_10_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 loc_bar__minus_4_bar_8_bar_1_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__plus_01_dot_17 loc_bar__minus_6_bar_7_bar_2_bar_45)\n (objectAtLocation Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_49 loc_bar__minus_4_bar_7_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 loc_bar__minus_4_bar_13_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82 loc_bar__minus_7_bar_14_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 loc_bar__minus_4_bar_13_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60 loc_bar__minus_4_bar_13_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_4_bar_7_bar_1_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29 loc_bar__minus_4_bar_7_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 loc_bar__minus_6_bar_10_bar_1_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34 loc_bar__minus_4_bar_13_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63 loc_bar__minus_4_bar_8_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_39_bar__plus_03_dot_30 loc_bar__minus_7_bar_13_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBarType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBarType)\n (receptacleType ?r CounterTopType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take soapbar 2 from toilet 1", "go to countertop 1", "move soapbar 2 to countertop 1", "go to garbagecan 1", "take soapbar 1 from garbagecan 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_two_obj_and_place-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1206d100f7017681c5a7065aab05de0762369cd9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/initial_state.pddl @@ -0,0 +1,536 @@ + +(define (problem plan_trial_T20190908_133156_866013) +(: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_00_dot_81_bar__plus_03_dot_26 - object + Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60 - object + Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61 - object + Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 - object + DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77 - object + DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63 - object + DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41 - object + Faucet_bar__minus_00_dot_08_bar__plus_00_dot_81_bar__plus_01_dot_73 - object + Faucet_bar__minus_00_dot_08_bar__plus_00_dot_81_bar__plus_02_dot_76 - object + HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 - object + LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_39_bar__plus_03_dot_30 - object + Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 - object + Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 - object + ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__plus_01_dot_17 - object + ShowerGlass_bar__minus_00_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_49 - object + ShowerHead_bar__minus_00_dot_08_bar__plus_01_dot_25_bar__plus_00_dot_52 - object + Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 - object + Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75 - object + SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47 - object + SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82 - object + SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 - object + SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 - object + SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35 - object + SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14 - object + ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 - object + ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20 - object + Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29 - object + CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45 - receptacle + Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_98 - receptacle + Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50 - receptacle + Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01 - receptacle + Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46 - receptacle + Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98 - receptacle + Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_02_dot_50 - receptacle + Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01 - receptacle + GarbageCan_bar__minus_02_dot_15_bar_00_dot_00_bar__plus_03_dot_84 - receptacle + HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_76_bar__plus_03_dot_44 - receptacle + Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin - receptacle + Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_00_dot_90_bar__plus_04_dot_00 - receptacle + Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67 - receptacle + TowelHolder_bar__minus_01_dot_11_bar__plus_01_dot_14_bar__plus_01_dot_18 - receptacle + loc_bar__minus_7_bar_14_bar_3_bar_60 - location + loc_bar__minus_4_bar_13_bar_1_bar_60 - location + loc_bar__minus_4_bar_10_bar_1_bar_45 - location + loc_bar__minus_4_bar_8_bar_1_bar_60 - location + loc_bar__minus_6_bar_10_bar_1_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_45 - location + loc_bar__minus_5_bar_14_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_1_bar_60 - location + loc_bar__minus_6_bar_8_bar_1_bar_45 - location + loc_bar__minus_5_bar_7_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_45 - location + loc_bar__minus_4_bar_13_bar_0_bar_60 - location + loc_bar__minus_4_bar_7_bar_2_bar_45 - location + loc_bar__minus_6_bar_7_bar_2_bar_45 - location + loc_bar__minus_4_bar_13_bar_1_bar_0 - location + loc_bar__minus_7_bar_13_bar_3_bar_30 - location + loc_bar__minus_4_bar_8_bar_1_bar_45 - location + loc_bar__minus_6_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01 DrawerType) + (receptacleType GarbageCan_bar__minus_02_dot_15_bar_00_dot_00_bar__plus_03_dot_84 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_00_dot_90_bar__plus_04_dot_00 ToiletPaperHangerType) + (receptacleType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75_bar_SinkBasin SinkBasinType) + (receptacleType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_76_bar__plus_03_dot_44 HandTowelHolderType) + (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67 ToiletType) + (receptacleType TowelHolder_bar__minus_01_dot_11_bar__plus_01_dot_14_bar__plus_01_dot_18 TowelHolderType) + (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_98 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_02_dot_50 DrawerType) + (receptacleType CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45 CounterTopType) + (objectType Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29 TowelType) + (objectType Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 ClothType) + (objectType ShowerGlass_bar__minus_00_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_49 ShowerGlassType) + (objectType Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 MirrorType) + (objectType SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35 SprayBottleType) + (objectType SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82 SoapBarType) + (objectType Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61 CandleType) + (objectType SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 SoapBottleType) + (objectType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 ToiletPaperType) + (objectType DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77 DishSpongeType) + (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_39_bar__plus_03_dot_30 LightSwitchType) + (objectType ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34 ScrubBrushType) + (objectType SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 SprayBottleType) + (objectType Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_26 CandleType) + (objectType SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14 SprayBottleType) + (objectType DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41 DishSpongeType) + (objectType Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75 SinkType) + (objectType ShowerDoor_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__plus_01_dot_17 ShowerDoorType) + (objectType DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63 DishSpongeType) + (objectType Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60 CandleType) + (objectType HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelType) + (objectType ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20 ToiletPaperType) + (objectType Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 PlungerType) + (objectType SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47 SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (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 HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (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 SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (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 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 TowelHolderType TowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (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 HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (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 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) + (pickupable Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29) + (pickupable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01) + (pickupable SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35) + (pickupable SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82) + (pickupable Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61) + (pickupable SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33) + (pickupable ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72) + (pickupable DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77) + (pickupable ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34) + (pickupable SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85) + (pickupable Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_26) + (pickupable SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14) + (pickupable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41) + (pickupable DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63) + (pickupable Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60) + (pickupable HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44) + (pickupable ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20) + (pickupable Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37) + (pickupable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47) + + (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01) + (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98) + (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01) + (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50) + (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46) + (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46) + (openable Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_02_dot_50) + + (atLocation agent1 loc_bar__minus_6_bar_7_bar_0_bar_30) + + (cleanable Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01) + (cleanable SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82) + (cleanable DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77) + (cleanable DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41) + (cleanable DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63) + (cleanable SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47) + + + + + + + + + + + (inReceptacle DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin) + (inReceptacle Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01) + (inReceptacle SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_26 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45) + (inReceptacle DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46) + (inReceptacle Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61 Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50) + (inReceptacle Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29 TowelHolder_bar__minus_01_dot_11_bar__plus_01_dot_14_bar__plus_01_dot_18) + (inReceptacle SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82 GarbageCan_bar__minus_02_dot_15_bar_00_dot_00_bar__plus_03_dot_84) + (inReceptacle HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_76_bar__plus_03_dot_44) + (inReceptacle ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67) + (inReceptacle Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60 Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67) + (inReceptacle SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47 Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67) + (inReceptacle SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67) + (inReceptacle Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75 Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75_bar_SinkBasin) + + + (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_01_bar__plus_01_dot_45 loc_bar__minus_4_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_46 loc_bar__minus_6_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_01_dot_98 loc_bar__minus_4_bar_8_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_02_dot_50 loc_bar__minus_6_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_32_bar__plus_03_dot_01 loc_bar__minus_6_bar_10_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_46 loc_bar__minus_5_bar_7_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_01_dot_98 loc_bar__minus_5_bar_9_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_02_dot_50 loc_bar__minus_5_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_32_bar__plus_00_dot_62_bar__plus_03_dot_01 loc_bar__minus_5_bar_11_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_15_bar_00_dot_00_bar__plus_03_dot_84 loc_bar__minus_7_bar_14_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_00_bar__plus_01_dot_76_bar__plus_03_dot_44 loc_bar__minus_4_bar_13_bar_1_bar_0) + (receptacleAtLocation Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73_bar_SinkBasin loc_bar__minus_4_bar_8_bar_1_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75_bar_SinkBasin loc_bar__minus_4_bar_10_bar_1_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_00_dot_90_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_60) + (receptacleAtLocation Toilet_bar__minus_00_dot_60_bar_00_dot_00_bar__plus_03_dot_67 loc_bar__minus_4_bar_13_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_11_bar__plus_01_dot_14_bar__plus_01_dot_18 loc_bar__minus_4_bar_7_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_27_bar__plus_00_dot_83_bar__plus_01_dot_77 loc_bar__minus_4_bar_8_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_48_bar__plus_00_dot_81_bar__plus_02_dot_14 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_10_bar__plus_00_dot_81_bar__plus_03_dot_26 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_47 loc_bar__minus_4_bar_13_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_21_bar__plus_01_dot_41 loc_bar__minus_6_bar_8_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_03_dot_85 loc_bar__minus_4_bar_13_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_47_bar__plus_00_dot_21_bar__plus_02_dot_61 loc_bar__minus_6_bar_8_bar_1_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_02_dot_75 loc_bar__minus_4_bar_10_bar_1_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_30_bar__plus_00_dot_81_bar__plus_01_dot_73 loc_bar__minus_4_bar_8_bar_1_bar_45) + (objectAtLocation ShowerDoor_bar__minus_01_dot_51_bar__plus_00_dot_91_bar__plus_01_dot_17 loc_bar__minus_6_bar_7_bar_2_bar_45) + (objectAtLocation Mirror_bar__minus_00_dot_23_bar__plus_00_dot_47_bar__plus_01_dot_45 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation ShowerGlass_bar__minus_00_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_49 loc_bar__minus_4_bar_7_bar_2_bar_45) + (objectAtLocation HandTowel_bar__minus_00_dot_04_bar__plus_01_dot_66_bar__plus_03_dot_44 loc_bar__minus_4_bar_13_bar_1_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_12_bar__plus_00_dot_06_bar__plus_03_dot_82 loc_bar__minus_7_bar_14_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_18_bar__plus_00_dot_95_bar__plus_03_dot_72 loc_bar__minus_4_bar_13_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_00_dot_14_bar_00_dot_00_bar__plus_03_dot_37 loc_bar__minus_4_bar_13_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_11_bar__plus_00_dot_95_bar__plus_03_dot_60 loc_bar__minus_4_bar_13_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_14_bar__plus_00_dot_80_bar__plus_01_dot_33 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_23_bar__plus_00_dot_81_bar__plus_03_dot_20 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__minus_00_dot_35_bar__plus_00_dot_81_bar__plus_01_dot_35 loc_bar__minus_4_bar_7_bar_1_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_11_bar__plus_01_dot_15_bar__plus_01_dot_29 loc_bar__minus_4_bar_7_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_00_dot_30_bar__plus_00_dot_21_bar__plus_03_dot_01 loc_bar__minus_6_bar_10_bar_1_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_35_bar_00_dot_00_bar__plus_03_dot_34 loc_bar__minus_4_bar_13_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_83_bar__plus_01_dot_63 loc_bar__minus_4_bar_8_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_39_bar__plus_03_dot_30 loc_bar__minus_7_bar_13_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBarType) + (receptacleType ?r CounterTopType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBarType) + (receptacleType ?r CounterTopType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0b00a2d09df24079c45147bdec2ac3c09ed23532 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBar-None-CounterTop-421/trial_T20190908_133156_866013/traj_data.json @@ -0,0 +1,5164 @@ +{ + "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": "SprayBottle_55833eba", + "position": { + "x": -0.161724955, + "y": 0.9542309, + "z": 3.846498 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_862832c1", + "position": { + "x": -0.331367254, + "y": 0.8299487, + "z": 1.62726021 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_862832c1", + "position": { + "x": -0.414286554, + "y": 0.206633866, + "z": 1.40800071 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_f6c37fb2", + "position": { + "x": -0.03691358, + "y": 1.658, + "z": 3.44300032 + }, + "rotation": { + "x": 0.0, + "y": 90.0004, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_0fd13d7a", + "position": { + "x": -0.161725044, + "y": 0.952896535, + "z": 3.471498 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_335b3797", + "position": { + "x": -0.180218875, + "y": 0.945194542, + "z": 3.71929717 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_a5ac7169", + "position": { + "x": -0.139841557, + "y": -0.0006361902, + "z": 3.369947 + }, + "rotation": { + "x": -0.00118185522, + "y": 0.0004360497, + "z": 0.000781859 + } + }, + { + "objectName": "Candle_1814f8bc", + "position": { + "x": -0.09700981, + "y": 0.812007546, + "z": 3.26009822 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_5484beaa", + "position": { + "x": -0.14460443, + "y": 0.8046577, + "z": 1.32575345 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_dab0d4d7", + "position": { + "x": -0.2253683, + "y": 0.809, + "z": 3.201858 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_55833eba", + "position": { + "x": -0.4820853, + "y": 0.8134041, + "z": 2.137258 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Towel_e5bc324c", + "position": { + "x": -1.106, + "y": 1.151, + "z": 1.28995311 + }, + "rotation": { + "x": 0.0, + "y": 1.70754731e-06, + "z": 0.0 + } + }, + { + "objectName": "Cloth_c4a4c4ad", + "position": { + "x": -0.3024292, + "y": 0.205373645, + "z": 3.01296377 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_274c0193", + "position": { + "x": -0.346180737, + "y": -0.000173203647, + "z": 3.34195137 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_862832c1", + "position": { + "x": -0.268063873, + "y": 0.8299487, + "z": 1.77237 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1595312678, + "scene_num": 421 + }, + "task_id": "trial_T20190908_133156_866013", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_3SNLUL3WO7EQHAFC7DV774XMRGSULM", + "high_descs": [ + "Move forward to the trash can.", + "Pick up the bar of soap from the trash can.", + "Hold the bar of soap and turn around then left and find the right side sink.", + "Place the soap on the counter, in between the two sinks.", + "Take a few steps to the left and face the sink.", + "Pick up the soap from the left side of the counter.", + "Carry the soap and move a few steps right.", + "Place the soap on the right side of the counter." + ], + "task_desc": "Move two bars of soap to the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AOPI4DCPSO8H4_3VW6495TLMRRYI6G0THM4X5VWJ7YYG", + "high_descs": [ + "Turn slightly left and go to the can in the corner. ", + "Pick up the soap in the can.", + "Turn around and turn left at the shower and go to the sink. ", + "Put the soap on the counter to the right of the bottle. ", + "Turn left, go to the toilet and turn right in front of it. ", + "Pick up the soap on top of the toilet. ", + "Turn right and walk toward the shower and turn left in front of the sink. ", + "Put the soap on the closest right corner. " + ], + "task_desc": "Put soap near the sink. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3M0BCWMB8YNRW5I5B0LEBPME00AWBH", + "high_descs": [ + "Walk forward to face the trash can in the corner of the room.", + "Pick up the bar of soap in the trash can on the floor.", + "Turn around and walk across the room to face the sink.", + "Place the bar of soap on the counter next to the sink.", + "Turn left and walk forward and turn to the right to face the toilet.", + "Pick up the bar of soap on the back of the toilet.", + "Turn right and walk forward and turn right to face the sink ", + "Place the bar of soap next to the first bar of soap on the sink." + ], + "task_desc": "To move two bars of soap to next to the sink.", + "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-SoapBottle-None-GarbageCan-428/trial_T20190909_105731_241727/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_105731_241727/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b49d07ac111fb6234e7a840e126acb8927f43d42 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_105731_241727/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 soapbottle 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_105731_241727)\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_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22 - object\n Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 - object\n Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object\n HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object\n Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object\n Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object\n ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object\n ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object\n ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object\n SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51 - object\n SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 - object\n SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10 - object\n SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63 - object\n SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 - object\n SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76 - object\n SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 - object\n ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object\n ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 - object\n Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle\n CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle\n GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle\n HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle\n Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_3_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_5_bar_14_bar_3_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_45 - location\n loc_bar__minus_3_bar_7_bar_2_bar_60 - location\n loc_bar__minus_2_bar_13_bar_3_bar_45 - location\n loc_bar__minus_5_bar_14_bar_3_bar_60 - location\n loc_bar__minus_3_bar_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_14_bar_0_bar_0 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_2_bar_14_bar_3_bar_45 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar_10_bar_3_bar_60 - location\n loc_bar__minus_3_bar_8_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType)\n (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType)\n (objectType Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77 ClothType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType)\n (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType)\n (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType)\n (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType)\n (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType)\n (objectType SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63 SoapBottleType)\n (objectType SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51 SoapBarType)\n (objectType SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 SprayBottleType)\n (objectType Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22 CandleType)\n (objectType SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10 SoapBottleType)\n (objectType SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType)\n (objectType ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 SoapBottleType)\n (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType)\n (objectType Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 CandleType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType)\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 ToiletPaperHangerType ToiletPaperType)\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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType 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 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 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 (pickupable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77)\n (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36)\n (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96)\n (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28)\n (pickupable SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63)\n (pickupable SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51)\n (pickupable SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95)\n (pickupable Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22)\n (pickupable SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10)\n (pickupable SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76)\n (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26)\n (pickupable ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07)\n (pickupable SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55)\n (pickupable SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93)\n (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (pickupable Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70)\n \n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n \n (atLocation agent1 loc_bar__minus_3_bar_8_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77)\n (cleanable SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51)\n (cleanable SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00)\n (inReceptacle SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51 Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 4 from countertop 1", "go to garbagecan 1", "move soapbottle 4 to garbagecan 1", "go to countertop 1", "take soapbottle 2 from countertop 1", "go to garbagecan 1", "move soapbottle 2 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_105731_241727/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_105731_241727/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..036b5581429c55c2a21de03b3285ec79f1bf95ec --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_105731_241727/initial_state.pddl @@ -0,0 +1,465 @@ + +(define (problem plan_trial_T20190909_105731_241727) +(: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_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22 - object + Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 - object + Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object + HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object + Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object + Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object + ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object + ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object + SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51 - object + SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 - object + SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10 - object + SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63 - object + SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 - object + SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76 - object + SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 - object + ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object + ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 - object + Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle + CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle + GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle + HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle + Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle + loc_bar__minus_3_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_5_bar_14_bar_3_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar_7_bar_2_bar_60 - location + loc_bar__minus_2_bar_13_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_7_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_0_bar_0 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_2_bar_14_bar_3_bar_45 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar__minus_3_bar_8_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType) + (objectType Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77 ClothType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType) + (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType) + (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType) + (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType) + (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType) + (objectType SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63 SoapBottleType) + (objectType SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51 SoapBarType) + (objectType SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 SprayBottleType) + (objectType Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22 CandleType) + (objectType SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10 SoapBottleType) + (objectType SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76 SoapBottleType) + (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType) + (objectType ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 SoapBottleType) + (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType) + (objectType Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 CandleType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType) + (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 ToiletPaperHangerType ToiletPaperType) + (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 SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType 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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (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) + (pickupable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77) + (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36) + (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96) + (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28) + (pickupable SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63) + (pickupable SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51) + (pickupable SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95) + (pickupable Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22) + (pickupable SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10) + (pickupable SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76) + (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26) + (pickupable ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07) + (pickupable SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55) + (pickupable SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93) + (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22) + (pickupable Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70) + + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + + (atLocation agent1 loc_bar__minus_3_bar_8_bar_1_bar_30) + + (cleanable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77) + (cleanable SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51) + (cleanable SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00) + (inReceptacle SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51 Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_69_bar__plus_00_dot_94_bar__plus_03_dot_51 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_63 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_10 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_22 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0) + (objectAtLocation SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_76 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_77 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 loc_bar__minus_2_bar_8_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_105731_241727/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_105731_241727/traj_data.json new file mode 100644 index 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"pick up brown pumper bottle from top of toilet tank", + "step back to face trash bin next to toilet", + "put bottle inside bin near toilet", + "walk to face sink counter", + "pick up brown pumper bottle from sink counter", + "walk to face trash bin next to toilet", + "put bottle inside bin near toilet" + ], + "task_desc": "put two pumper bottles inside bin near toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3X1FV8S5J0IA8XQB1C8WQYUX9K3GV7", + "high_descs": [ + "Turn around and face the toilet", + "Grab a bottle from on top of the toilet", + "Maneuver so you are standing a step to your right in front of the toilet", + "Put the bottle in the trash can", + "Head to your right and then turn left to face the sink", + "Grab a bottle from off of the bathroom counter", + "Head back to where you were just standing in front of the toilet", + "Put the second bottle in the trash can" + ], + "task_desc": "Throw two bottles in the trash", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3Z9WI9EOZ2FASIRAMEC79PVH8MYKHD", + "high_descs": [ + "Turn around to go to the toilet.", + "Pick up the bottle of soap from the back of the toilet.", + "Go to the trash bin to the left of the toilet.", + "Put the bottle of soap in the trash bin.", + "Turn right and go to the wall, then turn left to face the sink.", + "Pick up the bottle of soap to the right of the sink.", + "Turn left and go to the wall, then turn right to face the trash bin.", + "Put the bottle of soap in the trash bin." + ], + "task_desc": "Put two bottles of soap in the trash.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232825_221391/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232825_221391/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..935b8e38b4b3afba5f5ee54c8dd8fdd088abdd1c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232825_221391/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 soapbottle 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_232825_221391)\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_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90 - object\n Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object\n HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object\n Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object\n Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object\n ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object\n ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object\n ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object\n SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45 - object\n SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12 - object\n SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 - object\n SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76 - object\n SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12 - object\n SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86 - object\n SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 - object\n ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36 - object\n ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01 - object\n Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle\n CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle\n GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle\n HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle\n Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_3_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_5_bar_14_bar_3_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar_13_bar_3_bar_45 - location\n loc_bar__minus_5_bar_14_bar_3_bar_60 - location\n loc_bar__minus_3_bar_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_14_bar_0_bar_0 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_2_bar_14_bar_3_bar_45 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar_10_bar_3_bar_60 - location\n loc_bar__minus_1_bar_8_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType)\n (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType)\n (objectType SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76 SoapBottleType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType)\n (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType)\n (objectType SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36 ToiletPaperType)\n (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType)\n (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType)\n (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90 CandleType)\n (objectType SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12 SoapBarType)\n (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType)\n (objectType ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01 ToiletPaperType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType)\n (objectType SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 SoapBottleType)\n (objectType SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 SprayBottleType)\n (objectType SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12 SprayBottleType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType)\n (objectType SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86 SprayBottleType)\n (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType)\n (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40 ClothType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType)\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 ToiletPaperHangerType ToiletPaperType)\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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType 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 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 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 (pickupable SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76)\n (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36)\n (pickupable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45)\n (pickupable ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36)\n (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96)\n (pickupable Candle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90)\n (pickupable SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12)\n (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28)\n (pickupable ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01)\n (pickupable SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20)\n (pickupable SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17)\n (pickupable SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12)\n (pickupable SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86)\n (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40)\n \n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n \n (atLocation agent1 loc_bar__minus_1_bar_8_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45)\n (cleanable SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12)\n (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00)\n (inReceptacle SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45 Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbottle 2 from countertop 1", "go to garbagecan 1", "move soapbottle 2 to garbagecan 1", "go to toilet 1", "take soapbottle 1 from toilet 1", "go to garbagecan 1", "move soapbottle 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232825_221391/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232825_221391/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bc6bf703750e37ab8039c0cdcb7fb84bc8862f4d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232825_221391/initial_state.pddl @@ -0,0 +1,460 @@ + +(define (problem plan_trial_T20190909_232825_221391) +(: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_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90 - object + Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object + HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object + Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object + Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object + ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object + ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object + SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45 - object + SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12 - object + SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 - object + SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76 - object + SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12 - object + SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86 - object + SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 - object + ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36 - object + ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01 - object + Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle + CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle + GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle + HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle + Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle + loc_bar__minus_3_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_5_bar_14_bar_3_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_2_bar_13_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_7_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_0_bar_0 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_2_bar_14_bar_3_bar_45 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar__minus_1_bar_8_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType) + (objectType SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76 SoapBottleType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType) + (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType) + (objectType SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36 ToiletPaperType) + (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType) + (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType) + (objectType Candle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90 CandleType) + (objectType SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12 SoapBarType) + (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType) + (objectType ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01 ToiletPaperType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType) + (objectType SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 SoapBottleType) + (objectType SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 SprayBottleType) + (objectType SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12 SprayBottleType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType) + (objectType SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86 SprayBottleType) + (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType) + (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40 ClothType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType) + (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 ToiletPaperHangerType ToiletPaperType) + (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 SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType 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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (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) + (pickupable SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76) + (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36) + (pickupable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45) + (pickupable ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36) + (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96) + (pickupable Candle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90) + (pickupable SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12) + (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28) + (pickupable ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01) + (pickupable SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20) + (pickupable SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17) + (pickupable SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12) + (pickupable SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86) + (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22) + (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40) + + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + + (atLocation agent1 loc_bar__minus_1_bar_8_bar_2_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45) + (cleanable SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12) + (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40) + + + + + + + + + + + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (inReceptacle ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (inReceptacle Candle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00) + (inReceptacle SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45 Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_12 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_58_bar__plus_00_dot_92_bar__plus_03_dot_12 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_90 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0) + (objectAtLocation SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_76 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_40 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_03_dot_45 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_36 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_86 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_02_dot_01 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232825_221391/traj_data.json 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"turk_annotations": { + "anns": [ + { + "assignment_id": "A17TKHT8FEVH0R_3I3WADAZ9TVH2GSUJ43RR990NI6O59", + "high_descs": [ + "Turn right and go to the toilet", + "Grab the bottle of soap off of the toilet", + "Back up from the toilet and look at the trash can", + "Put the bottle in the trash can", + "Turn right and go to the counter between the sinks", + "Grab the bottle of soap off of the counter", + "Turn left and go to the trash can", + "Put the bottle in the trash can" + ], + "task_desc": "Putting two bottles of soap in the trash can", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3ZPBJO59KSS2ECL0UXQK5C0ROCFHD9", + "high_descs": [ + "Walk up to the wall, then turn right and walk over to the toilet.", + "Pick up the bottle of lotion off of the toilet tank.", + "Turn around and walk towards the shower, the hang a left and walk forward, turn left to face the toilet.", + "Put the bottle of lotion in the small green bin to the left of the toilet.", + "Turn right and walk towards the wall, the hang a left and walk up to the counter.", + "Pick up the bottle of lotion off of the counter.", + "Walk back over to the small green bin to the left of the toilet.", + "Put the bottle of lotion into the small green bin." + ], + "task_desc": "Move two bottles of lotion into a small green bin.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1198W1SPF1R4_354P56DE9NUBNCY6EEZX9YXXBEK7SM", + "high_descs": [ + "Turn right and walk to the toilet.", + "Pick up the brown toilet cleaner.", + "Turn around and return to the toilet.", + "Put the toilet cleaner in the green can placed on the left of the toilet.", + "Turn right and go to the sink.", + "Pick up another brown toilet cleaner from the sink counter.", + "Turn left and go to the toilet.", + "Put the second toilet cleaner in the green can." + ], + "task_desc": "Put two brown toilet cleaners in a green can.", + "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-SoapBottle-None-GarbageCan-428/trial_T20190909_232903_234334/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232903_234334/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..46534ec083a609b61eb368b204c1e254de4d90c2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232903_234334/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 soapbottle 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_232903_234334)\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_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46 - object\n Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72 - object\n Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12 - object\n Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object\n HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object\n Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object\n Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object\n ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object\n ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object\n ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object\n SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 - object\n SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 - object\n SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77 - object\n SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 - object\n SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 - object\n SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77 - object\n SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 - object\n SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 - object\n ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object\n ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70 - object\n Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle\n CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle\n GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle\n HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle\n Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_3_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_5_bar_14_bar_3_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_45 - location\n loc_bar__minus_3_bar_7_bar_2_bar_60 - location\n loc_bar__minus_2_bar_13_bar_3_bar_45 - location\n loc_bar__minus_5_bar_14_bar_3_bar_60 - location\n loc_bar__minus_3_bar_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_14_bar_0_bar_0 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_2_bar_14_bar_3_bar_45 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar_10_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType)\n (objectType Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12 CandleType)\n (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType)\n (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType)\n (objectType Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04 ClothType)\n (objectType SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70 ToiletPaperType)\n (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 SprayBottleType)\n (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType)\n (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType)\n (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType)\n (objectType Candle_bar__minus_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46 CandleType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType)\n (objectType SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 SoapBottleType)\n (objectType SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77 SprayBottleType)\n (objectType SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 SprayBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType)\n (objectType SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 SoapBarType)\n (objectType Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72 CandleType)\n (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType)\n (objectType SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 SoapBottleType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType)\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 ToiletPaperHangerType ToiletPaperType)\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 SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType 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 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 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 (pickupable Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12)\n (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36)\n (pickupable Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04)\n (pickupable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77)\n (pickupable ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70)\n (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32)\n (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96)\n (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28)\n (pickupable Candle_bar__minus_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46)\n (pickupable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20)\n (pickupable SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82)\n (pickupable SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77)\n (pickupable SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17)\n (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26)\n (pickupable SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55)\n (pickupable Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72)\n (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (pickupable SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07)\n \n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n \n (atLocation agent1 loc_bar_0_bar_13_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04)\n (cleanable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77)\n (cleanable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20)\n (cleanable SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n (inReceptacle SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n (inReceptacle Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n (inReceptacle SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (inReceptacle SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00)\n (inReceptacle SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SoapBottleType)\n (receptacleType ?r GarbageCanType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take soapbottle 2 from toilet 1", "go to garbagecan 1", "move soapbottle 2 to garbagecan 1", "go to toilet 1", "take soapbottle 1 from toilet 1", "go to garbagecan 1", "move soapbottle 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232903_234334/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232903_234334/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..dd91e01f618097665ae6ef8b9fb35c0884bfaeea --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-SoapBottle-None-GarbageCan-428/trial_T20190909_232903_234334/initial_state.pddl @@ -0,0 +1,476 @@ + +(define (problem plan_trial_T20190909_232903_234334) +(: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_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46 - object + Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72 - object + Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12 - object + Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object + HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object + Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object + Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object + ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object + ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object + SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 - object + SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 - object + SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77 - object + SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 - object + SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 - object + SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77 - object + SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 - object + SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 - object + ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object + ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70 - object + Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle + CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle + GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle + HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle + Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle + loc_bar__minus_3_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_5_bar_14_bar_3_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar_7_bar_2_bar_60 - location + loc_bar__minus_2_bar_13_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_7_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_0_bar_0 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_2_bar_14_bar_3_bar_45 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType) + (objectType Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12 CandleType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType) + (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType) + (objectType Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04 ClothType) + (objectType SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70 ToiletPaperType) + (objectType SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 SprayBottleType) + (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType) + (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType) + (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType) + (objectType Candle_bar__minus_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46 CandleType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType) + (objectType SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 SoapBottleType) + (objectType SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77 SprayBottleType) + (objectType SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 SprayBottleType) + (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType) + (objectType SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 SoapBarType) + (objectType Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72 CandleType) + (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType) + (objectType SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 SoapBottleType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType) + (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 ToiletPaperHangerType ToiletPaperType) + (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 SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType 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 CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (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) + (pickupable Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12) + (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36) + (pickupable Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04) + (pickupable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77) + (pickupable ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70) + (pickupable SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32) + (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96) + (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28) + (pickupable Candle_bar__minus_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46) + (pickupable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20) + (pickupable SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82) + (pickupable SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77) + (pickupable SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17) + (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26) + (pickupable SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55) + (pickupable Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72) + (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22) + (pickupable SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07) + + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + + (atLocation agent1 loc_bar_0_bar_13_bar_2_bar_30) + + (cleanable Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04) + (cleanable SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77) + (cleanable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20) + (cleanable SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55) + + + + + + + + + + + (inReceptacle Candle_bar__minus_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + (inReceptacle SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + (inReceptacle Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (inReceptacle SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (inReceptacle SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00) + (inReceptacle SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_17 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_20 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_03_dot_72 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_32 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_54_bar__plus_00_dot_04_bar__plus_02_dot_46 loc_bar__minus_2_bar_8_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_80_bar__plus_00_dot_04_bar__plus_03_dot_77 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_12 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0) + (objectAtLocation SoapBottle_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_82 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_70_bar__plus_00_dot_03_bar__plus_03_dot_04 loc_bar__minus_2_bar_14_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_74_bar__plus_00_dot_04_bar__plus_02_dot_55 loc_bar__minus_2_bar_8_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_83_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__plus_03_dot_77 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SoapBottleType) + (receptacleType ?r GarbageCanType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ 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"z": 0.0 + } + }, + { + "objectName": "Candle_74c9d1eb", + "position": { + "x": -1.6375258, + "y": 0.9179053, + "z": 3.12224221 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Candle_74c9d1eb", + "position": { + "x": -1.54247642, + "y": 0.0403811336, + "z": 2.46442318 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_52cc5647", + "position": { + "x": -1.64372611, + "y": 0.0378220677, + "z": 3.767257 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_52cc5647", + "position": { + "x": -1.79556346, + "y": 0.0377365351, + "z": 3.316318 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_0d121717", + "position": { + "x": -1.85848331, + "y": 0.953682363, + "z": 1.82150042 + }, + "rotation": { + "x": 0.0, + "y": 179.999756, + "z": 0.0 + } + }, + { + "objectName": "Candle_74c9d1eb", + "position": { + "x": -1.59304893, + "y": 0.0404666662, + "z": 3.722808 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "HandTowel_9f2e6500", + "position": { + "x": -1.67064345, + "y": 1.49639475, + "z": 3.96225166 + }, + "rotation": { + "x": 0.0, + "y": -4.78113252e-05, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_0d121717", + "position": { + "x": -1.83169425, + "y": 0.954007745, + "z": 2.07150078 + }, + "rotation": { + "x": 0.0, + "y": 179.999756, + "z": 0.0 + } + }, + { + "objectName": "Towel_ed9a493d", + "position": { + "x": 0.8339847, + "y": 1.16006589, + "z": 2.35729623 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_e1a5b3e4", + "position": { + "x": -1.69543636, + "y": 0.0312405825, + "z": 3.040513 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBar_5fababf8", + "position": { + "x": -1.6375258, + "y": 0.9183304, + "z": 3.196968 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_ddfae4f5", + "position": { + "x": -1.831691, + "y": 0.9504933, + "z": 1.69650054 + }, + "rotation": { + "x": 0.0, + "y": 179.999756, + "z": 0.0 + } + }, + { + "objectName": "Plunger_8c1215fa", + "position": { + "x": -1.87680137, + "y": 0.000189825892, + "z": 2.276764 + }, + "rotation": { + "x": 359.840363, + "y": 0.0558536276, + "z": 0.0464878269 + } + }, + { + "objectName": "SprayBottle_52cc5647", + "position": { + "x": -1.81408381, + "y": 0.9152607, + "z": 3.17205954 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_a0644457", + "position": { + "x": -1.14020634, + "y": 1.01309454, + "z": 1.25650108 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 89.99995 + } + }, + { + "objectName": "ScrubBrush_1cbe15ab", + "position": { + "x": -1.70388472, + "y": 0.000493228436, + "z": 2.217829 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4273505211, + "scene_num": 428 + }, + "task_id": "trial_T20190909_232903_234334", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_37ZHEEHM6ZD73VDROZYW1QPLJWT73Y", + "high_descs": [ + "Walk over to the wall, then turn right and walk up to the toilet.", + "Pick up the leftmost bottle of lotion off of the toilet tank.", + "Turn around and walk towards the shower, then hang a left and walk forward, turn left to face the toilet.", + "Put the bottle of lotion in the small green bin to the left of the toilet.", + "Turn right and walk forward, then turn left and walk up to the toilet.", + "Pick up the bottle of lotion off of the toilet tank.", + "Walk over to the small green bin that is to the left of the toilet.", + "Put the bottle of lotion into the small green bin." + ], + "task_desc": "Move two bottles of lotion into a green bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3CFVK00FWOC5FZPBBVX4RYJ6O8A6LO", + "high_descs": [ + "Go forward to the wall, turn right, go forward to the green bin.", + "Take the pump bottle on the left from the toilet tank.", + "Turn around, go forward a step, turn left, go forward a step, turn left to face the toilet.", + "Put the pump bottle in the green bin to the left of the toilet.", + "Turn right, go forward a step, turn left, go towards the space between the toilet and sink.", + "Take the pump bottle from the toilet tank.", + "Go back to the front of the toilet, face the toilet.", + "Put the pump bottle in the green bin to the left of the toilet." + ], + "task_desc": "Put two pump bottles in a green bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3YMU66OBIQZ5QWVRWNRSBX3O15JHG9", + "high_descs": [ + "Go forward to the wall, then turn right to go to the toilet.", + "Pick up the leftmost bottle of soap from the back of the toilet.", + "Go to the trash bin to your left.", + "Put the bottle of soap in the trash bin.", + "Go to the toilet to your right.", + "Pick up the bottle of soap from the back of the toilet.", + "Go to the trash bin to your left.", + "Put the bottle of soap in the trash bin." + ], + "task_desc": "Put two bottles of soap in the trash.", + "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-429/trial_T20190909_031623_121989/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031623_121989/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f1dd80169b2ae7f1d9870bdb7ba70c4b115e62b4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031623_121989/initial_state.pddl @@ -0,0 +1,435 @@ + +(define (problem plan_trial_T20190909_031623_121989) +(: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_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_12_bar__plus_00_dot_95_bar__minus_03_dot_90 - object + Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 - object + Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_54 - object + Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 - object + SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 - object + SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_85 - object + SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 - object + TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + TissueBox_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_14 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar_0_bar__minus_9_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 SoapBarType) + (objectType Candle_bar__plus_00_dot_12_bar__plus_00_dot_95_bar__minus_03_dot_90 CandleType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType TissueBox_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_14 TissueBoxType) + (objectType SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_85 SoapBottleType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 SoapBottleType) + (objectType TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 TissueBoxType) + (objectType ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 ToiletPaperType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 CandleType) + (objectType SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 SprayBottleType) + (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_54 ClothType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (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) + (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 ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54) + (pickupable Candle_bar__plus_00_dot_12_bar__plus_00_dot_95_bar__minus_03_dot_90) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable TissueBox_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_14) + (pickupable SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_85) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68) + (pickupable SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83) + (pickupable TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98) + (pickupable ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87) + (pickupable SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42) + (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_54) + + + + (atLocation agent1 loc_bar_0_bar__minus_9_bar_3_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54) + (cleanable Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68) + (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_54) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle TissueBox_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_14 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_85 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle Candle_bar__plus_00_dot_12_bar__plus_00_dot_95_bar__minus_03_dot_90 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_54 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_03_dot_54 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_07_bar__plus_00_dot_96_bar__minus_03_dot_85 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_12_bar__plus_00_dot_95_bar__minus_03_dot_90 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_03_dot_54 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?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-429/trial_T20190909_031623_121989/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031623_121989/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..7adc396d933978d3ae92f77a89d3c938415bfef5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031623_121989/traj_data.json @@ -0,0 +1,4114 @@ +{ + "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 + }, + { 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in the bucket.", + "Turn to face the toilet to your left.", + "Place the roll of toilet paper on top of the toilet.", + "Turn left and then walk to your right to the side of the toilet where the plunger is.", + "Grab the empty roll on the floor next the toilet.", + "Turn around, walk straight, make a quick left, walk straight, make a left when you reach the tub, walk straight to the bucket and turn left when you reach the bucket.", + "Place the empty roll next to the full roll on the toilet." + ], + "task_desc": "Place an empty roll and full roll on the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3HPZF4IVNPKEVF5B41ZX76DCT08YC1", + "high_descs": [ + "Turn left and step forward to face the trash can on the floor.", + "Pick up the roll of toilet paper in the trash can on the floor.", + "Turn left to face the back of the toilet.", + "Place the toilet paper on the back of the toilet.", + "Walk around to face the left side of the toilet.", + "Pick up the empty roll on the floor.", + "Look to the right to face the back of the sink.", + "Place the empty roll on the back of the sink." + ], + "task_desc": "To put a roll of toilet paper and an empty roll on the back of the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3HVVDCPGTHJVHW7MQNUNWGDGHNIYTW", + "high_descs": [ + "Walk up to the tub, then turn left and walk over to the small bin to the right of the toilet.", + "Pick up the roll of toilet paper out of the small bin.", + "Turn right and walk over to the tub, then turn around to face the toilet.", + "Put the roll of toilet paper on top of the toilet tank.", + "Turn left and walk forward, then turn right and walk over to the wall, turn right again and walk up to the wall then look down at the floor.", + "Pick up the toilet paper roll off of the ground in front of you.", + "Turn around and walk forward, then hang a left and walk up to the tub, turn left again and walk forward then turn left to face the toilet.", + "Put the toilet paper roll on top of the toilet tank." + ], + "task_desc": "Move two toilet paper rolls to 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-429/trial_T20190909_031718_783966/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031718_783966/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0419db1b98b807eac524bb3b6d55999fdb5024f6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031718_783966/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 toiletpaper and put them 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_031718_783966)\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_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object\n Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55 - object\n Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object\n Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object\n HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object\n Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object\n ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object\n ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object\n SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 - object\n SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82 - object\n SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 - object\n SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 - object\n TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98 - object\n TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 - object\n ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object\n ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62 - object\n ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72 - object\n Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object\n Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle\n GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle\n HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle\n Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle\n Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle\n Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle\n Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle\n TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n loc_bar_1_bar__minus_7_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_3_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType)\n (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType)\n (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType)\n (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType)\n (objectType SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 SoapBottleType)\n (objectType SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82 SoapBarType)\n (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType)\n (objectType Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55 ClothType)\n (objectType TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98 TissueBoxType)\n (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBottleType)\n (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType)\n (objectType TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 TissueBoxType)\n (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType)\n (objectType ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72 ToiletPaperType)\n (objectType SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 SoapBarType)\n (objectType SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 SprayBottleType)\n (objectType ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62 ToiletPaperType)\n (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType)\n (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType)\n (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType)\n (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType)\n (objectType Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19 CandleType)\n (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType)\n (objectType SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 SoapBarType)\n (objectType SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 SoapBottleType)\n (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType 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 TissueBoxType)\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 TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\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 ToiletType TissueBoxType)\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 TissueBoxType)\n (canContain ShelfType 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 TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82)\n (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55)\n (pickupable TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98)\n (pickupable SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11)\n (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11)\n (pickupable TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83)\n (pickupable ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72)\n (pickupable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08)\n (pickupable SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17)\n (pickupable ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62)\n (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04)\n (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89)\n (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77)\n \n \n \n (atLocation agent1 loc_bar__minus_3_bar__minus_3_bar_0_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82)\n (cleanable Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55)\n (cleanable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08)\n (cleanable SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00)\n (inReceptacle TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00)\n (inReceptacle SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?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 shelf 2", "take toiletpaper 2 from shelf 2", "go to toilet 1", "move toiletpaper 2 to toilet 1", "go to shelf 2", "take toiletpaper 1 from shelf 2", "go to toilet 1", "move toiletpaper 1 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-429/trial_T20190909_031718_783966/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031718_783966/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8963933f5b7e512b91d56c35be972226c14a83ea --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031718_783966/initial_state.pddl @@ -0,0 +1,446 @@ + +(define (problem plan_trial_T20190909_031718_783966) +(: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_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 - object + SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82 - object + SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 - object + SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 - object + TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62 - object + ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (objectType SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 SoapBottleType) + (objectType SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82 SoapBarType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55 ClothType) + (objectType TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98 TissueBoxType) + (objectType SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 SoapBottleType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 TissueBoxType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 SoapBarType) + (objectType SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 SprayBottleType) + (objectType ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62 ToiletPaperType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19 CandleType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 SoapBarType) + (objectType SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 SoapBottleType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (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) + (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 ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55) + (pickupable TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98) + (pickupable SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83) + (pickupable ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72) + (pickupable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08) + (pickupable SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17) + (pickupable ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77) + + + + (atLocation agent1 loc_bar__minus_3_bar__minus_3_bar_0_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82) + (cleanable Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55) + (cleanable SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08) + (cleanable SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_77_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_82 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_11 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_01_dot_55 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_56_bar__plus_00_dot_82_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?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-429/trial_T20190909_031718_783966/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031718_783966/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..93586f6cf30905a14735d6482c3d59437f3ece65 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031718_783966/traj_data.json @@ -0,0 +1,4452 @@ +{ + "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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", + "Pick up the empty toilet paper roll from the white shelf.", + "Turn around completely and go forward then left then turn right again to face the toilet. .", + "Set the toilet paper roll on the back end of the toilet. ", + "Turn to the left and go around to the other side of the toilet.", + "Pick up the empty toilet paper roll from the floor. ", + "Go around to the other side of the toilet", + "Set the toilet paper roll on the back end of the toilet. " + ], + "task_desc": "Move two empty toilet paper roll to the back end of the toilet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3U84XHCDIF4B512178VY2FAQ7ISZ4F", + "high_descs": [ + "Turn to the right and face the white cabinet on the left.", + "Pick the empty toilet roll up from the cabinet.", + "Turn around and cross the room to stand on the right side of the toilet.", + "Put the empty toilet roll on the back of the toilet.", + "Move to the other side of the toilet and face the floor.", + "Pick the empty toilet paper roll up from the floor.", + "Move to the right side of the toilet.", + "Put the toilet paper roll on the back of the toilet." + ], + "task_desc": "Put two toilet paper rolls on the back of 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-ToiletPaper-None-Toilet-429/trial_T20190909_031746_098278/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031746_098278/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b8ce0e1507cecf4aa6ea34aece01e630fe51c941 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Toilet-429/trial_T20190909_031746_098278/initial_state.pddl @@ -0,0 +1,430 @@ + +(define (problem plan_trial_T20190909_031746_098278) +(: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_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 - object + Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_67 - object + Candle_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 - object + Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_54 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_03_dot_54 - object + SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_72 - object + SprayBottle_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar_2_bar__minus_12_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (objectType SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_03_dot_54 SoapBarType) + (objectType TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 TissueBoxType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType SoapBar_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 SoapBarType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType Candle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 CandleType) + (objectType SprayBottle_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 SprayBottleType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_72 SoapBottleType) + (objectType Candle_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 CandleType) + (objectType ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 ToiletPaperType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_54 ClothType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_67 CandleType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (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) + (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 ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_03_dot_54) + (pickupable TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable SoapBar_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable Candle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62) + (pickupable SprayBottle_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77) + (pickupable SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_72) + (pickupable Candle_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08) + (pickupable ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_54) + (pickupable Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_67) + + + + (atLocation agent1 loc_bar_2_bar__minus_12_bar_0_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_03_dot_54) + (cleanable SoapBar_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98) + (cleanable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_54) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_67 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SoapBar_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle Candle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle Candle_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_03_dot_54 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_54 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_91_bar__plus_00_dot_82_bar__minus_01_dot_67 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_54 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_03_dot_54 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_56_bar__plus_00_dot_08_bar__minus_03_dot_78 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_83_bar__plus_00_dot_81_bar__minus_00_dot_36 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ToiletPaperType) + 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Turn left to face the trash can.", + "Take out the toilet paper from the trash can. ", + "Turn to the right and face the toilet.", + "Place the toilet paper on the back end of the toilet.", + "Walk around to the other side of the toilet.", + "Pick up the empty toilet paper roll off of the floor. ", + "Turn around to the left and walk around the toilet. Turn left to face the toilet. ", + "Place the empty toilet paper roll on the back end of the toilet. " + ], + "task_desc": "Move toilet paper and a roll to the toilet. 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